{"id":"https://openalex.org/W2109668512","doi":"https://doi.org/10.1109/robot.2008.4543423","title":"A vision-based computed torque control for parallel kinematic machines","display_name":"A vision-based computed torque control for parallel kinematic machines","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2109668512","doi":"https://doi.org/10.1109/robot.2008.4543423","mag":"2109668512"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/0810.2666","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022173710","display_name":"Flavien Paccot","orcid":"https://orcid.org/0000-0001-9783-827X"},"institutions":[{"id":"https://openalex.org/I4210133183","display_name":"Institut de Chimie de Clermont-Ferrand","ror":"https://ror.org/045qszf23","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I198244214","https://openalex.org/I4210128300","https://openalex.org/I4210128870","https://openalex.org/I4210133183"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Flavien Paccot","raw_affiliation_strings":["LASMEA UMR CNRS, Aubiere, France","UMR CNRS 6602, LASMEA, Aubiere"],"affiliations":[{"raw_affiliation_string":"LASMEA UMR CNRS, Aubiere, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210133183"]},{"raw_affiliation_string":"UMR CNRS 6602, LASMEA, Aubiere","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038556743","display_name":"Philippe Lemoine","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Lemoine","raw_affiliation_strings":["IrCCYN UMR CNRS, Nantes, France","IrCCYN - UMR CNRS 6697 1, Rue de la No\u00eb, 44321 Nantes Cedex 3, France"],"affiliations":[{"raw_affiliation_string":"IrCCYN UMR CNRS, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"IrCCYN - UMR CNRS 6697 1, Rue de la No\u00eb, 44321 Nantes Cedex 3, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000816393","display_name":"Nicolas Andreff","orcid":"https://orcid.org/0000-0001-5687-5533"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210133183","display_name":"Institut de Chimie de Clermont-Ferrand","ror":"https://ror.org/045qszf23","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I198244214","https://openalex.org/I4210128300","https://openalex.org/I4210128870","https://openalex.org/I4210133183"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Andreff","raw_affiliation_strings":["LASMEA UMR CNRS, Aubiere, France","LASMEA - UMR CNRS 6602 24, Avenue des Landais 63177 Aubi\u00e8re Cedex, France"],"affiliations":[{"raw_affiliation_string":"LASMEA UMR CNRS, Aubiere, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210133183"]},{"raw_affiliation_string":"LASMEA - UMR CNRS 6602 24, Avenue des Landais 63177 Aubi\u00e8re Cedex, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039524439","display_name":"Damien Chablat","orcid":"https://orcid.org/0000-0001-7847-6162"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Damien Chablat","raw_affiliation_strings":["IrCCYN UMR CNRS, Nantes, France","IrCCYN - UMR CNRS 6697 1, Rue de la No\u00eb, 44321 Nantes Cedex 3, France"],"affiliations":[{"raw_affiliation_string":"IrCCYN UMR CNRS, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"IrCCYN - UMR CNRS 6697 1, Rue de la No\u00eb, 44321 Nantes Cedex 3, France","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019929775","display_name":"Philippe Martinet","orcid":"https://orcid.org/0000-0001-5827-0431"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210133183","display_name":"Institut de Chimie de Clermont-Ferrand","ror":"https://ror.org/045qszf23","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I198244214","https://openalex.org/I4210128300","https://openalex.org/I4210128870","https://openalex.org/I4210133183"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Martinet","raw_affiliation_strings":["LASMEA UMR CNRS, Aubiere, France","LASMEA - UMR CNRS 6602 24, Avenue des Landais 63177 Aubi\u00e8re Cedex, France"],"affiliations":[{"raw_affiliation_string":"LASMEA UMR CNRS, Aubiere, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210133183"]},{"raw_affiliation_string":"LASMEA - UMR CNRS 6602 24, Avenue des Landais 63177 Aubi\u00e8re Cedex, France","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5022173710"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210133183"],"apc_list":null,"apc_paid":null,"fwci":7.4505,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.96820192,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1556","last_page":"1561"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/kinematics","display_name":"Kinematics","score":0.7365285158157349},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.7124156951904297},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6805639266967773},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6377848386764526},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6222351789474487},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5657191276550293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5447585582733154},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5181021094322205},{"id":"https://openalex.org/keywords/rewriting","display_name":"Rewriting","score":0.4908319115638733},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4847254753112793},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46240976452827454},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4392244219779968},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37710511684417725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3047454059123993},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1916387975215912},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1768227219581604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17145642638206482},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09971994161605835},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.0718587338924408}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7365285158157349},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.7124156951904297},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6805639266967773},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6377848386764526},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6222351789474487},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5657191276550293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5447585582733154},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5181021094322205},{"id":"https://openalex.org/C154690210","wikidata":"https://www.wikidata.org/wiki/Q1668499","display_name":"Rewriting","level":2,"score":0.4908319115638733},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4847254753112793},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46240976452827454},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4392244219779968},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37710511684417725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3047454059123993},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1916387975215912},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1768227219581604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17145642638206482},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09971994161605835},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0718587338924408},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2008.4543423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:0810.2666","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0810.2666","pdf_url":"https://arxiv.org/pdf/0810.2666","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-00330762v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00330762","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation, ICRA 2008, May 2008, Pasadena, United States. ISBN: 978-1-4244-1647-9, pp. 1556-1561","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:0810.2666","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0810.2666","pdf_url":"https://arxiv.org/pdf/0810.2666","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.4399999976158142,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W127300325","https://openalex.org/W1582353822","https://openalex.org/W1606698300","https://openalex.org/W1671041776","https://openalex.org/W1842784561","https://openalex.org/W2002492977","https://openalex.org/W2009474255","https://openalex.org/W2088115584","https://openalex.org/W2091395494","https://openalex.org/W2098759960","https://openalex.org/W2112845348","https://openalex.org/W2127852426","https://openalex.org/W2145104972","https://openalex.org/W2154704397","https://openalex.org/W2156543308","https://openalex.org/W2157709767","https://openalex.org/W2164278974","https://openalex.org/W2170766533","https://openalex.org/W2541710308","https://openalex.org/W2951020885","https://openalex.org/W3005001436","https://openalex.org/W3163456722","https://openalex.org/W6605083222","https://openalex.org/W6634758348","https://openalex.org/W6636410956","https://openalex.org/W6773225395"],"related_works":["https://openalex.org/W2611960376","https://openalex.org/W2151627114","https://openalex.org/W2124086581","https://openalex.org/W4210941726","https://openalex.org/W4242231179","https://openalex.org/W3016367173","https://openalex.org/W3135439126","https://openalex.org/W3040474838","https://openalex.org/W2483758673","https://openalex.org/W628231512"],"abstract_inverted_index":{"In":[0],"this":[1,53],"paper,":[2],"a":[3,13,34,56,64],"novel":[4],"approach":[5,26,54],"for":[6],"parallel":[7],"kinematic":[8],"machine":[9],"control":[10,62,70],"relying":[11],"on":[12,21],"fast":[14,65],"exteroceptive":[15,66],"measure":[16],"is":[17,42],"implemented":[18],"and":[19,83],"validated":[20],"the":[22,30,37,49,69,79,86,90],"Orthoglide":[23],"robot.":[24],"This":[25],"begins":[27],"with":[28,63],"rewriting":[29],"robot":[31],"models":[32],"as":[33],"function":[35],"of":[36,89],"only":[38],"end-effector":[39],"pose.":[40],"It":[41],"shown":[43],"that":[44],"such":[45],"an":[46],"operation":[47],"reduces":[48],"model":[50],"complexity.":[51,72],"Then,":[52],"uses":[55],"classical":[57],"Cartesian":[58],"space":[59],"computed":[60],"torque":[61],"measure,":[67],"reducing":[68],"schemes":[71],"Simulation":[73],"results":[74],"are":[75],"given":[76],"to":[77],"show":[78],"expected":[80],"performance":[81],"improvements":[82],"experiments":[84],"prove":[85],"practical":[87],"feasibility":[88],"approach.":[91]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}