{"id":"https://openalex.org/W2157709767","doi":"https://doi.org/10.1109/robot.2004.1307396","title":"A new method for tuning PID parameters of a 3 DoF reconfigurable parallel kinematic machine","display_name":"A new method for tuning PID parameters of a 3 DoF reconfigurable parallel kinematic machine","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2157709767","doi":"https://doi.org/10.1109/robot.2004.1307396","mag":"2157709767"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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":null,"display_name":"Yang Zhiyong","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhiyong","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University, TJU, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University, TJU, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":null,"display_name":"Huang Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huang Tian","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University, TJU, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University, TJU, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":0.9773,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.73703538,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2249","last_page":"2254 Vol.3"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9994999766349792,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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/T11081","display_name":"Advanced Control Systems Design","score":0.9984999895095825,"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":0.7768832445144653},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6763249635696411},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6688181161880493},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6628501415252686},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.6307408809661865},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6016799211502075},{"id":"https://openalex.org/keywords/parallelogram","display_name":"Parallelogram","score":0.5922887325286865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5777298808097839},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5332562327384949},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.49504581093788147},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4707660675048828},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.46752405166625977},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.44806209206581116},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4367430806159973},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.4275514483451843},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3483140468597412},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20513242483139038},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20231282711029053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1587514579296112},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1205669641494751},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11900758743286133}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7768832445144653},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6763249635696411},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6688181161880493},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6628501415252686},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.6307408809661865},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6016799211502075},{"id":"https://openalex.org/C53118041","wikidata":"https://www.wikidata.org/wiki/Q45867","display_name":"Parallelogram","level":3,"score":0.5922887325286865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5777298808097839},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5332562327384949},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.49504581093788147},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4707660675048828},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.46752405166625977},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.44806209206581116},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4367430806159973},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.4275514483451843},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3483140468597412},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20513242483139038},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20231282711029053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1587514579296112},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1205669641494751},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11900758743286133},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1307396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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":9,"referenced_works":["https://openalex.org/W181550056","https://openalex.org/W2025184211","https://openalex.org/W2037013225","https://openalex.org/W2044144139","https://openalex.org/W2084880958","https://openalex.org/W2113433055","https://openalex.org/W2129537830","https://openalex.org/W2378626514","https://openalex.org/W6657886343"],"related_works":["https://openalex.org/W2326095929","https://openalex.org/W4300068833","https://openalex.org/W2080331776","https://openalex.org/W161603712","https://openalex.org/W2045478930","https://openalex.org/W2115261773","https://openalex.org/W2021648837","https://openalex.org/W2320805319","https://openalex.org/W1490629594","https://openalex.org/W1984747759"],"abstract_inverted_index":{"Aimed":[0],"at":[1,95],"a":[2,8],"3-DoF":[3],"reconfigurable":[4],"parallel":[5],"kinematic":[6],"machine,":[7],"method":[9,131],"for":[10],"tuning":[11],"PID":[12,117],"parameters":[13,118],"of":[14,29,49,59,72,75,103,108,116,129],"its":[15,93],"servo":[16,110],"system":[17,111],"is":[18],"presented.":[19],"At":[20,123],"first,":[21],"position,":[22],"velocity":[23],"and":[24,44,84,112,127],"acceleration":[25],"inverse":[26,46],"solution":[27],"models":[28],"machine":[30],"driven":[31],"by":[32,57,134],"the":[33,45,50,65,68,73,76,81,86,96,99,104,109,113,125,130,135],"outer":[34],"translation":[35],"pairs":[36],"that":[37],"contain":[38],"parallelogram":[39],"strut":[40],"structures":[41],"are":[42,119,132],"developed,":[43],"dynamics":[47],"model":[48],"rigid":[51],"body":[52],"has":[53],"been":[54],"set":[55],"up":[56],"means":[58],"virtual":[60],"work":[61],"principle.":[62],"Based":[63],"on":[64],"above,":[66],"making":[67],"mean":[69],"square":[70],"error":[71],"trajectory":[74],"moving":[77],"platform":[78],"least":[79],"as":[80],"optimum":[82,114],"goal,":[83],"considering":[85],"real-timely":[87],"variational":[88],"inertial":[89],"load":[90],"along":[91],"with":[92],"pose":[94],"same":[97],"time,":[98],"overshoot,":[100],"adjusting":[101],"time":[102],"unit":[105],"step":[106],"response":[107],"range":[115],"given":[120],"through":[121],"simulations.":[122],"last,":[124],"correctness":[126],"effectiveness":[128],"proved":[133],"experiments.":[136]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}