{"id":"https://openalex.org/W2157702526","doi":"https://doi.org/10.1109/robot.2008.4543607","title":"Improving force control performance by computational elimination of non-contact forces/torques","display_name":"Improving force control performance by computational elimination of non-contact forces/torques","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2157702526","doi":"https://doi.org/10.1109/robot.2008.4543607","mag":"2157702526"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543607","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":"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":"https://openalex.org/A5050420397","display_name":"Daniel Kubus","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel Kubus","raw_affiliation_strings":["Department for Robotics and Process Control, Technische Universitat Braunschweig, Brunswick, Germany"],"affiliations":[{"raw_affiliation_string":"Department for Robotics and Process Control, Technische Universitat Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018921223","display_name":"Torsten Kr\u00f6ger","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Torsten Kroger","raw_affiliation_strings":["Department for Robotics and Process Control, Technische Universitat Braunschweig, Brunswick, Germany"],"affiliations":[{"raw_affiliation_string":"Department for Robotics and Process Control, Technische Universitat Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074832005","display_name":"Friedrich M. Wahl","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Friedrich M. Wahl","raw_affiliation_strings":["Department for Robotics and Process Control, Technische Universitat Braunschweig, Brunswick, Germany"],"affiliations":[{"raw_affiliation_string":"Department for Robotics and Process Control, Technische Universitat Braunschweig, Brunswick, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050420397"],"corresponding_institution_ids":["https://openalex.org/I94509681"],"apc_list":null,"apc_paid":null,"fwci":4.9815,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.95113314,"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":"2617","last_page":"2622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9961000084877014,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.8630361557006836},{"id":"https://openalex.org/keywords/fictitious-force","display_name":"Fictitious force","score":0.7967060804367065},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.776256263256073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7066552042961121},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5761780142784119},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.47094500064849854},{"id":"https://openalex.org/keywords/body-force","display_name":"Body force","score":0.4632396101951599},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.42291051149368286},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.34954899549484253},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3384680151939392},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3376159071922302},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3178105056285858},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21145674586296082},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19858241081237793},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.1934284269809723},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.11186802387237549},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0832543671131134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06793078780174255}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8630361557006836},{"id":"https://openalex.org/C30811805","wikidata":"https://www.wikidata.org/wiki/Q212126","display_name":"Fictitious force","level":2,"score":0.7967060804367065},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.776256263256073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7066552042961121},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5761780142784119},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.47094500064849854},{"id":"https://openalex.org/C9358284","wikidata":"https://www.wikidata.org/wiki/Q1759756","display_name":"Body force","level":2,"score":0.4632396101951599},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.42291051149368286},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.34954899549484253},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3384680151939392},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3376159071922302},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3178105056285858},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21145674586296082},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19858241081237793},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.1934284269809723},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.11186802387237549},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0832543671131134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06793078780174255},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"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":1,"locations":[{"id":"doi:10.1109/robot.2008.4543607","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543607","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W37247277","https://openalex.org/W132269255","https://openalex.org/W178056938","https://openalex.org/W1538315967","https://openalex.org/W1555601014","https://openalex.org/W1596805757","https://openalex.org/W1965324089","https://openalex.org/W2049200047","https://openalex.org/W2101218549","https://openalex.org/W2105319781","https://openalex.org/W2112844012","https://openalex.org/W2135740627","https://openalex.org/W2144893430","https://openalex.org/W2148084973","https://openalex.org/W6635626115"],"related_works":["https://openalex.org/W2385608510","https://openalex.org/W1968903915","https://openalex.org/W2921758623","https://openalex.org/W2351130891","https://openalex.org/W2359757059","https://openalex.org/W2368236943","https://openalex.org/W2369702608","https://openalex.org/W2888672372","https://openalex.org/W1496593705","https://openalex.org/W2364237601"],"abstract_inverted_index":{"Regarding":[0],"manipulators":[1],"with":[2],"wrist-mounted":[3],"force/torque":[4,93,112,135,171,211],"sensors":[5],"a":[6,58,178],"major":[7],"issue":[8],"is":[9,35],"the":[10,29,32,36,55,92,128,134,142,149,154,157,161,165,170,181,192,198,210,215],"high":[11],"execution":[12,33,96],"time":[13,34],"of":[14,31,38,91,133,148,151,156,160,180],"force-guided":[15,64],"and":[16,48,76,108,153,204,225],"force-guarded":[17,66],"motions":[18],"compared":[19],"to":[20,61,86,103,164,190],"purely":[21],"position-controlled":[22],"tasks.":[23],"An":[24],"important":[25],"factor":[26],"that":[27,221],"aggravates":[28],"reduction":[30],"influence":[37],"non-contact":[39,69,106,202],"forces,":[40,43,45,47],"e.g.":[41],"inertial":[42,144],"centrifugal":[44],"Coriolis":[46],"associated":[49,109],"torques,":[50],"which":[51],"are":[52,174,188,207,229],"exerted":[53],"onto":[54],"sensor":[56,94,113,136,166,172,205],"by":[57,232],"load":[59,162],"attached":[60,163],"it.":[62],"Considering":[63],"or":[65],"motions,":[67],"these":[68,87],"forces":[70,107],"may":[71],"significantly":[72,231],"deteriorate":[73],"contact":[74,118,125,194,216,223],"detection":[75,224],"force":[77,119,126,226],"control":[78,227],"performance":[79,228],"when":[80],"executing":[81],"dynamic":[82],"movements.":[83],"In":[84],"addition":[85],"disturbance":[88],"forces/torques,":[89],"resets":[90,132],"consume":[95],"time.":[97],"This":[98],"paper":[99],"presents":[100],"an":[101],"approach":[102,130],"eliminating":[104],"all":[105],"torques":[110],"from":[111,122,209],"measurements":[114,212],"thus":[115,213],"enabling":[116],"pure":[117,124],"control.":[120],"Apart":[121],"facilitating":[123],"control,":[127],"presented":[129],"renders":[131],"unnecessary.":[137],"To":[138],"achieve":[139],"this":[140,233],"aim,":[141],"ten":[143],"parameters":[145,187],"(mass,":[146],"coordinates":[147],"center":[150],"mass,":[152],"elements":[155],"inertia":[158],"matrix)":[159],"as":[167,169],"well":[168],"offsets":[173,206],"estimated":[175],"on-line":[176],"employing":[177],"variant":[179],"recursive":[182],"instrumental":[183],"variables":[184],"method.":[185],"These":[186],"used":[189],"calculate":[191],"non-":[193],"forces/torques":[195,203],"acting":[196],"upon":[197],"sensor.":[199],"The":[200],"current":[201],"subtracted":[208],"yielding":[214],"forces/torques.":[217],"Experimental":[218],"results":[219],"show":[220],"both":[222],"improved":[230],"approach.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
