{"id":"https://openalex.org/W2159001262","doi":"https://doi.org/10.1109/robot.2002.1014791","title":"Virtual decomposition based motion/force control of two coordinated industrial manipulators KUKA361/KUKA160","display_name":"Virtual decomposition based motion/force control of two coordinated industrial manipulators KUKA361/KUKA160","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2159001262","doi":"https://doi.org/10.1109/robot.2002.1014791","mag":"2159001262"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014791","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":"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/A5103575231","display_name":"Well-Hong Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I2800055578","display_name":"Canadian Space Agency","ror":"https://ror.org/03a1gte98","country_code":"CA","type":"government","lineage":["https://openalex.org/I2800055578"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","CA"],"is_corresponding":false,"raw_author_name":"Well-Hong Zhu","raw_affiliation_strings":["Canadian Space Agency, Saint Hubert, QUE, Canada","Katholieke Universiteit Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Canadian Space Agency, Saint Hubert, QUE, Canada","institution_ids":["https://openalex.org/I2800055578"]},{"raw_affiliation_string":"Katholieke Universiteit Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"J. De Schutter","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31035008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1729","last_page":"1734"},"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":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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/impedance-control","display_name":"Impedance control","score":0.7847552299499512},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7145193219184875},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6064379215240479},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5832091569900513},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5642586350440979},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5627810955047607},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5290678143501282},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5252774953842163},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5134021043777466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4464588761329651},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4454275369644165},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41504910588264465},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37028101086616516},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35820794105529785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3440406620502472},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2082713544368744},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1894783079624176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18584775924682617},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17135661840438843}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7847552299499512},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7145193219184875},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6064379215240479},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5832091569900513},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5642586350440979},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5627810955047607},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5290678143501282},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5252774953842163},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5134021043777466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4464588761329651},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4454275369644165},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41504910588264465},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37028101086616516},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35820794105529785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3440406620502472},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2082713544368744},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1894783079624176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18584775924682617},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17135661840438843},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2002.1014791","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014791","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1520931958","https://openalex.org/W1917097748","https://openalex.org/W2034162943","https://openalex.org/W2101630027","https://openalex.org/W2114396743","https://openalex.org/W2129879264","https://openalex.org/W2158654061","https://openalex.org/W2634875492","https://openalex.org/W6640106600","https://openalex.org/W6675546157"],"related_works":["https://openalex.org/W2786196354","https://openalex.org/W2071387541","https://openalex.org/W2789837488","https://openalex.org/W1983135609","https://openalex.org/W2786003999","https://openalex.org/W2172274897","https://openalex.org/W1568936204","https://openalex.org/W4378965995","https://openalex.org/W4229014760","https://openalex.org/W3139430168"],"abstract_inverted_index":{"Virtual":[0],"decomposition":[1],"control":[2,25,43,53,66,81],"approach":[3],"is":[4,34],"applied":[5],"to":[6,15,22,90],"two":[7],"coordinated":[8],"industrial":[9],"manipulators":[10],"KUKA361":[11],"and":[12,62,83],"KUKA160":[13],"subject":[14],"a":[16,51,58],"rigid":[17,28,79],"unilateral":[18,29],"constraint.":[19],"In":[20],"order":[21],"accommodate":[23],"motion/force":[24],"with":[26,50,63],"the":[27,31,47],"constraint,":[30],"required":[32],"velocity":[33],"re-designed":[35],"by":[36],"introducing":[37],"filtered":[38,84],"contact":[39,60,73,80],"forces":[40],"in":[41,55,68,88],"full":[42],"space.":[44],"This":[45],"provides":[46],"controlled":[48],"robots":[49],"hybrid":[52],"behavior":[54,67],"case":[56,69],"of":[57,70],"known":[59],"geometry":[61],"an":[64,71],"impedance":[65],"unknown":[72],"geometry.":[74],"The":[75],"experiment":[76],"demonstrates":[77],"bouncing-free":[78],"stability":[82],"force":[85],"tracking":[86],"capability,":[87],"addition":[89],"asymptotic":[91],"motion":[92],"tracking.":[93]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
