{"id":"https://openalex.org/W4235198916","doi":"https://doi.org/10.1109/robot.2003.1242053","title":"Mode shape compensator for improving robustness of manipulator mounted on flexible base","display_name":"Mode shape compensator for improving robustness of manipulator mounted on flexible base","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W4235198916","doi":"https://doi.org/10.1109/robot.2003.1242053"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5020610827","display_name":"J. Ueda","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Ueda","raw_affiliation_strings":["Nara Institute of Science and Technology, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061864445","display_name":"T. Yoshikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yoshikawa","raw_affiliation_strings":["Department of Mechanical Engineering, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"3011","last_page":"3016"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9911999702453613,"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":0.9911999702453613,"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":0.9890000224113464,"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":0.9843000173568726,"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":0.858518660068512},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7667590379714966},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5977131128311157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5210311412811279},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4244036078453064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07200554013252258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07035323977470398}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.858518660068512},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7667590379714966},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5977131128311157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5210311412811279},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4244036078453064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07200554013252258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07035323977470398},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1242053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1607545013","https://openalex.org/W1877231297","https://openalex.org/W1966328972","https://openalex.org/W1995090200","https://openalex.org/W2007769844","https://openalex.org/W2050139618","https://openalex.org/W2068027769","https://openalex.org/W2081178351","https://openalex.org/W2105081710","https://openalex.org/W2108920607","https://openalex.org/W2113709480","https://openalex.org/W2124338565","https://openalex.org/W2127307933","https://openalex.org/W2167186576","https://openalex.org/W2171025682","https://openalex.org/W2643800031","https://openalex.org/W6739720968"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2530322880","https://openalex.org/W1596801655","https://openalex.org/W4206327962"],"abstract_inverted_index":{"In":[0],"this":[1,51],"paper,":[2],"the":[3,6,21,24,32,59,65,81,86,90,93],"concept":[4],"of":[5,23,31,37,44,74,92],"'robust":[7],"arm":[8,25],"configuration'":[9],"(RAC)":[10],"is":[11,28,55,67,97,121],"expanded":[12],"using":[13],"a":[14,38,100,105,112],"mode":[15,52,60],"shape":[16],"compensator.":[17,125],"This":[18],"compensator":[19,35,87],"improves":[20],"robustness":[22],"configuration":[26],"which":[27],"far":[29],"out":[30],"RAC.":[33],"The":[34,47,95],"consists":[36],"constant":[39],"gain":[40],"matrix":[41,54],"and":[42],"acceleration":[43],"each":[45],"joint.":[46],"design":[48],"method":[49],"for":[50],"shaping":[53,61],"presented":[56],"based":[57],"on":[58,111],"algorithm.":[62],"Effect":[63],"upon":[64],"manipulability":[66],"also":[68],"examined.":[69],"It":[70],"suggests":[71],"that":[72],"inclining":[73],"DME's":[75],"principal":[76],"axes,":[77],"resulting":[78],"in":[79],"changing":[80],"rigid":[82],"body":[83],"dynamics,":[84],"by":[85,99],"leads":[88],"to":[89],"improvement":[91],"robustness.":[94],"validity":[96],"confirmed":[98],"numerical":[101],"example":[102],"performed":[103],"with":[104,123],"2":[106],"DOF":[107,114],"planar":[108],"manipulator":[109],"mounted":[110],"1":[113],"flexible":[115],"base.":[116],"A":[117],"high":[118],"bandwidth":[119],"settling":[120],"realized":[122],"obtained":[124]},"counts_by_year":[{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
