{"id":"https://openalex.org/W2158781677","doi":"https://doi.org/10.1109/robot.2003.1242277","title":"Hierarchical velocity field control for robot manipulators","display_name":"Hierarchical velocity field control for robot manipulators","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W2158781677","doi":"https://doi.org/10.1109/robot.2003.1242277","mag":"2158781677"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242277","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":"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":null,"display_name":"J. Moreno","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"J. Moreno","raw_affiliation_strings":["CITEDI-IPN, Centro de Investigaci6\u00f3n y Desarrollo de Tecnolagia Digital, Tijuana, Baja California, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CITEDI-IPN, Centro de Investigaci6\u00f3n y Desarrollo de Tecnolagia Digital, Tijuana, Baja California, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085499418","display_name":"Rafael Kelly","orcid":"https://orcid.org/0000-0002-7660-0745"},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Kelly","raw_affiliation_strings":["Divisi6\u00f3n de Fi\u00edsica Aplicada, CICESE, Ensenada, Baja California, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Divisi6\u00f3n de Fi\u00edsica Aplicada, CICESE, Ensenada, Baja California, Mexico","institution_ids":["https://openalex.org/I64663401"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5103,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.925656,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"4374","last_page":"4379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.998199999332428,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9980999827384949,"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":0.7271683216094971},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7251970767974854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6570357084274292},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6514875888824463},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5561733841896057},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5415449738502502},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5260286927223206},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5129680037498474},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5014407634735107},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4690181612968445},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4470047950744629},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34366926550865173},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3082309365272522},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.274458110332489},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24972054362297058},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23617783188819885},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14092981815338135},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05700448155403137}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7271683216094971},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7251970767974854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6570357084274292},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6514875888824463},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5561733841896057},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5415449738502502},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5260286927223206},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5129680037498474},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5014407634735107},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4690181612968445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4470047950744629},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34366926550865173},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3082309365272522},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.274458110332489},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24972054362297058},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23617783188819885},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14092981815338135},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05700448155403137},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/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.2003.1242277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242277","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":[{"score":0.5,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W94566284","https://openalex.org/W1496777766","https://openalex.org/W1564897360","https://openalex.org/W1997650413","https://openalex.org/W2023285936","https://openalex.org/W2042913147","https://openalex.org/W2070678224","https://openalex.org/W2080947876","https://openalex.org/W2100790457","https://openalex.org/W2119239523","https://openalex.org/W2135667864","https://openalex.org/W2151664215","https://openalex.org/W2180293407","https://openalex.org/W4205362845","https://openalex.org/W6633694296","https://openalex.org/W6671005359","https://openalex.org/W6677742281"],"related_works":["https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W2005471069","https://openalex.org/W4312096302","https://openalex.org/W2101598871","https://openalex.org/W2109573574"],"abstract_inverted_index":{"This":[0],"paper":[1],"concerns":[2],"the":[3,27,32,43,46,75,94,97],"velocity":[4,24,30,59,82],"field":[5,14,25,60],"control":[6,15,19,77],"in":[7,21,31],"operational":[8,33,57],"space":[9,34,58],"of":[10,38,73,96],"robot":[11,29,44,91],"manipulators.":[12],"Velocity":[13],"is":[16,54,65],"a":[17,36,52,68,80,87],"recent":[18],"formulation":[20],"robotics.":[22],"A":[23],"defines":[26],"desired":[28,47],"as":[35],"function":[37],"its":[39],"current":[40],"position,":[41],"thus":[42],"performs":[45],"motions.":[48],"In":[49],"this":[50],"paper,":[51],"controller":[53,64],"proposed":[55,63,98],"for":[56],"control.":[61],"The":[62],"based":[66],"on":[67,86],"hierarchical":[69],"structure":[70],"that":[71],"result":[72],"using":[74],"kinematic":[76],"concept":[78],"and":[79],"joint":[81],"controller.":[83],"Experimental":[84],"results":[85],"two":[88],"degrees-of-freedom":[89],"direct-drive":[90],"arm":[92],"illustrate":[93],"viability":[95],"scheme.":[99]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
