{"id":"https://openalex.org/W2170365851","doi":"https://doi.org/10.1109/robot.2002.1014242","title":"Design and control of a three-link serial manipulator for lessons in particle dynamics","display_name":"Design and control of a three-link serial manipulator for lessons in particle dynamics","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2170365851","doi":"https://doi.org/10.1109/robot.2002.1014242","mag":"2170365851"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},"type":"article","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/A5067441596","display_name":"Mark A. Minor","orcid":"https://orcid.org/0000-0003-1736-2908"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"M.A. Minor","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049342358","display_name":"Konrad Johan Jensen","orcid":"https://orcid.org/0000-0002-2449-8419"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Jensen","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041621696","display_name":"Youngshik Kim","orcid":"https://orcid.org/0000-0003-0869-576X"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Youngshik Kim","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5067441596"],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.16050981,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"3435","last_page":"3441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9894000291824341,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9879999756813049,"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/throwing","display_name":"Throwing","score":0.7400129437446594},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.6667146682739258},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6607578992843628},{"id":"https://openalex.org/keywords/ball-screw","display_name":"Ball screw","score":0.5965224504470825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5880944132804871},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5842366218566895},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5753389596939087},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5673713684082031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5269178748130798},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49878883361816406},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.42615553736686707},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4252012372016907},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4191226661205292},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3125636577606201},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2028999626636505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18634900450706482},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15872320532798767},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14866602420806885}],"concepts":[{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.7400129437446594},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.6667146682739258},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6607578992843628},{"id":"https://openalex.org/C2777606094","wikidata":"https://www.wikidata.org/wiki/Q1791122","display_name":"Ball screw","level":3,"score":0.5965224504470825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5880944132804871},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5842366218566895},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5753389596939087},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5673713684082031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5269178748130798},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49878883361816406},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.42615553736686707},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4252012372016907},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4191226661205292},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3125636577606201},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2028999626636505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18634900450706482},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15872320532798767},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14866602420806885},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C206391251","wikidata":"https://www.wikidata.org/wiki/Q1186738","display_name":"Nut","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2002.1014242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.102.6235","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.102.6235","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.mech.utah.edu/~minor/publications/ICRA02-throwingarm.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1529129303","https://openalex.org/W1537482913","https://openalex.org/W1842612833","https://openalex.org/W2062691475","https://openalex.org/W2098589175","https://openalex.org/W2133779339"],"related_works":["https://openalex.org/W2757445715","https://openalex.org/W4239855920","https://openalex.org/W2371249440","https://openalex.org/W2365576545","https://openalex.org/W4226007727","https://openalex.org/W1994450512","https://openalex.org/W2374850085","https://openalex.org/W2359220965","https://openalex.org/W2742370181","https://openalex.org/W2384079587"],"abstract_inverted_index":{"Design,":[0],"control":[1,103],"and":[2,32,38,54,64,111,137,143,149,171,186],"performance":[3],"of":[4,15,30,40,98,174],"a":[5,42,87,91,96,99,152],"ball-throwing":[6,23],"robot":[7,80],"are":[8,122,164],"examined":[9,142],"in":[10,35,51],"this":[11,16,77],"paper.":[12],"The":[13],"objective":[14],"project":[17],"is":[18,140,189],"to":[19,44,67,74,106,115,151],"provide":[20,58,76],"an":[21],"interactive":[22],"robotic":[24],"arm":[25],"for":[26,135,145],"illustrating":[27],"the":[28,36,65,70,79,84,155,168,175,184],"roles":[29],"engineers":[31],"computer":[33],"scientists":[34],"design":[37,179],"usage":[39],"such":[41],"system":[43],"high":[45],"school":[46],"or":[47],"pre-engineering":[48],"students.":[49],"Activities":[50],"particle":[52],"dynamics":[53],"trajectory":[55],"calculation":[56],"will":[57],"basic":[59],"hands":[60],"on":[61,126,183],"engineering":[62],"experience":[63],"opportunity":[66],"interact":[68],"with":[69,90,102,158],"robot.":[71],"In":[72],"order":[73,129],"effectively":[75],"activity,":[78],"must":[81],"consistently":[82],"throw":[83],"ball":[85,146,185],"from":[86],"known":[88],"point":[89],"desired":[92],"velocity.":[93],"This":[94],"requires":[95],"minimum":[97],"two-link":[100],"manipulator":[101],"strategies":[104],"sufficient":[105],"converge":[107],"two":[108],"joint":[109],"positions":[110],"velocities":[112],"simultaneously.":[113],"Due":[114],"limited":[116],"microcontroller":[117],"computational":[118],"resources,":[119],"feedforward":[120],"torques":[121],"calculated":[123],"off-line":[124],"based":[125],"3/sup":[127],"rd/":[128],"cubic":[130],"spline":[131],"trajectories.":[132],"Feedback":[133],"compensation":[134],"position":[136],"velocity":[138],"error":[139,160],"then":[141],"compared":[144],"throwing":[147],"accuracy":[148,170],"precision":[150],"technique":[153],"supplementing":[154],"previous":[156],"controller":[157],"acceleration":[159],"compensation.":[161],"Experimental":[162],"results":[163],"presented":[165],"that":[166],"illustrate":[167],"improved":[169],"reduced":[172],"repeatability":[173],"later":[176],"technique.":[177],"Gripper":[178],"providing":[180],"consistent":[181],"hold":[182],"rapid":[187],"release":[188],"also":[190],"examined.":[191]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
