{"id":"https://openalex.org/W2164006014","doi":"https://doi.org/10.1109/robot.1987.1087793","title":"Eigenvalue assignment and performance index based force-position control with self-tuning for robotic manipulators","display_name":"Eigenvalue assignment and performance index based force-position control with self-tuning for robotic manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2164006014","doi":"https://doi.org/10.1109/robot.1987.1087793","mag":"2164006014"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028075821","display_name":"Nasser Houshangi","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"N. Houshangi","raw_affiliation_strings":["School of Electrical Engineering, Purdue University, West Lafayette, IN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Purdue University, West Lafayette, IN","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088771581","display_name":"A.J. Koivo","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Koivo","raw_affiliation_strings":["School of Electrical Engineering, Purdue University, West Lafayette, IN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Purdue University, West Lafayette, IN","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.3597234,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"1386","last_page":"1391"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9695000052452087,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8626987934112549},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7432023882865906},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.7127522230148315},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6954283714294434},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5420582890510559},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.474774569272995},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.4539373815059662},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33027562499046326},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26212698221206665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22989872097969055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1314639449119568},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06383192539215088}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8626987934112549},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7432023882865906},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.7127522230148315},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6954283714294434},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5420582890510559},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.474774569272995},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.4539373815059662},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33027562499046326},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26212698221206665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22989872097969055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1314639449119568},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06383192539215088},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1954012305","https://openalex.org/W1980191775","https://openalex.org/W2008731016","https://openalex.org/W2016958754","https://openalex.org/W2034052310","https://openalex.org/W2082000011","https://openalex.org/W2114231924","https://openalex.org/W2141170102","https://openalex.org/W2150367199","https://openalex.org/W2155829031"],"related_works":["https://openalex.org/W2352472571","https://openalex.org/W1020620338","https://openalex.org/W1996592923","https://openalex.org/W2039329986","https://openalex.org/W2486990811","https://openalex.org/W2355290017","https://openalex.org/W2095746132","https://openalex.org/W3121012399","https://openalex.org/W1036286070","https://openalex.org/W2000675896"],"abstract_inverted_index":{"The":[0],"force-position":[1,56],"controller":[2,21,25],"is":[3,17,28,44],"designed":[4],"for":[5,19],"robotic":[6],"manipulator":[7],"in":[8],"the":[9,20,47,50],"Cartesian":[10],"coordinate":[11],"system.":[12],"A":[13],"time":[14],"series":[15],"model":[16],"used":[18],"design.":[22],"An":[23],"adaptive":[24],"with":[26,61],"self-tuning":[27,62],"determined":[29],"(i)":[30],"by":[31,40],"minimizing":[32],"a":[33],"well":[34],"defined":[35],"quadratic":[36],"performance":[37,48],"criterion":[38],"(ii)":[39],"pole":[41],"placement.":[42],"Comparison":[43],"made":[45],"between":[46],"of":[49,55],"two":[51],"controller.":[52],"Successful":[53],"simulations":[54],"control":[57],"using":[58],"both":[59],"controllers":[60],"are":[63],"presented.":[64]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}