{"id":"https://openalex.org/W2161602006","doi":"https://doi.org/10.1109/robot.1987.1087867","title":"Control of a flexible robot arm with bounded input: Optimum step responses","display_name":"Control of a flexible robot arm with bounded input: Optimum step responses","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2161602006","doi":"https://doi.org/10.1109/robot.1987.1087867","mag":"2161602006"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087867","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/A5060202964","display_name":"I. Shung","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"I. Shung","raw_affiliation_strings":["Department of Electrical Engineering, University of Waterloo, Waterloo, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059985214","display_name":"M. Vidyasagar","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Vidyasagar","raw_affiliation_strings":["Department of Electrical Engineering, University of Waterloo, Waterloo, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":2.4763,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.89585097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"916","last_page":"922"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9876999855041504,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9854999780654907,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8071942329406738},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6720179319381714},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6586679220199585},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6190557479858398},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5941659212112427},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5678420662879944},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.5443789958953857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5336229205131531},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4433867037296295},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4380514323711395},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4345627725124359},{"id":"https://openalex.org/keywords/linear-quadratic-gaussian-control","display_name":"Linear-quadratic-Gaussian control","score":0.4285036027431488},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4173774719238281},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31412720680236816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30327361822128296},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22214460372924805},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.17313620448112488},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15997669100761414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13055875897407532}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8071942329406738},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6720179319381714},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6586679220199585},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6190557479858398},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5941659212112427},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5678420662879944},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.5443789958953857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5336229205131531},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4433867037296295},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4380514323711395},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4345627725124359},{"id":"https://openalex.org/C204495892","wikidata":"https://www.wikidata.org/wiki/Q1798304","display_name":"Linear-quadratic-Gaussian control","level":3,"score":0.4285036027431488},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4173774719238281},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31412720680236816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30327361822128296},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22214460372924805},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.17313620448112488},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15997669100761414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13055875897407532},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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.1987.1087867","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087867","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":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1490746760","https://openalex.org/W1535290418","https://openalex.org/W1881127686","https://openalex.org/W1967332578","https://openalex.org/W2087558621","https://openalex.org/W2093928000","https://openalex.org/W2103610162","https://openalex.org/W2106456658","https://openalex.org/W2131486429","https://openalex.org/W4253284464","https://openalex.org/W6676009919"],"related_works":["https://openalex.org/W1999291921","https://openalex.org/W2111439273","https://openalex.org/W2144691561","https://openalex.org/W2115005925","https://openalex.org/W2101783086","https://openalex.org/W2107169685","https://openalex.org/W2541843095","https://openalex.org/W4388893656","https://openalex.org/W1505290414","https://openalex.org/W2108575589"],"abstract_inverted_index":{"This":[0],"paper":[1,90],"studies":[2],"the":[3,31,37,46,62,93,101],"effectiveness":[4],"of":[5,22,42,82,88,103],"various":[6],"controller":[7,34,43,53],"design":[8,44,54],"approaches":[9],"on":[10,61],"a":[11],"flexible":[12,24,104],"robot":[13,16,105],"arm.":[14],"The":[15,40,52,67,86],"arm":[17,106],"model":[18],"used":[19],"is":[20,28,50,91],"that":[21,30,92],"Cannon-Schmitz":[23],"one-link":[25],"robot.":[26],"It":[27],"shown":[29],"conventional":[32,83],"PI":[33],"cannot":[35],"stabilize":[36],"closed-loop":[38],"system.":[39],"idea":[41],"using":[45,78],"stable":[47,94],"factorization":[48],"approach":[49,96],"explored.":[51],"procedures,":[55],"both":[56],"with":[57],"and":[58],"without":[59],"constraints":[60],"actuator":[63],"torque":[64],"are":[65],"discussed.":[66],"simulation":[68],"results":[69],"shows":[70],"better":[71],"system":[72],"performance":[73],"can":[74],"be":[75],"achieved":[76],"by":[77],"these":[79],"controllers":[80],"instead":[81],"LQG":[84],"controller.":[85],"conclusion":[87],"this":[89],"factorizatlon":[95],"has":[97],"great":[98],"potential":[99],"in":[100],"area":[102],"control.":[107]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}