{"id":"https://openalex.org/W2138863953","doi":"https://doi.org/10.1109/robot.2008.4543609","title":"New aspects of input shaping control to damp oscillations of a compliant force sensor","display_name":"New aspects of input shaping control to damp oscillations of a compliant force sensor","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2138863953","doi":"https://doi.org/10.1109/robot.2008.4543609","mag":"2138863953"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543609","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/A5050424217","display_name":"Amine Kamel","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Amine Kamel","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","German Aerosp. Center (DLR), Inst. of Robot. & Mechatron. Oberpfaffenhofen, Wessling"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerosp. Center (DLR), Inst. of Robot. & Mechatron. Oberpfaffenhofen, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102141937","display_name":"Friedrich Lange","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Friedrich Lange","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","German Aerosp. Center (DLR), Inst. of Robot. & Mechatron. Oberpfaffenhofen, Wessling"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerosp. Center (DLR), Inst. of Robot. & Mechatron. Oberpfaffenhofen, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111438905","display_name":"Gerd Hirzinger","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerd Hirzinger","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","German Aerosp. Center (DLR), Inst. of Robot. & Mechatron. Oberpfaffenhofen, Wessling"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerosp. Center (DLR), Inst. of Robot. & Mechatron. Oberpfaffenhofen, Wessling","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050424217"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":5.7941,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.95777995,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2629","last_page":"2635"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994000196456909,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994000196456909,"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":0.9927999973297119,"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":0.9861999750137329,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8711550235748291},{"id":"https://openalex.org/keywords/damp","display_name":"Damp","score":0.8312860727310181},{"id":"https://openalex.org/keywords/input-shaping","display_name":"Input shaping","score":0.7249758243560791},{"id":"https://openalex.org/keywords/impulse","display_name":"Impulse (physics)","score":0.6264127492904663},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5493254661560059},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.46783319115638733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4476640224456787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4266131818294525},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3829938471317291},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.28299352526664734},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27315065264701843},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22037848830223083},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.1627907156944275},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.13441643118858337},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08846619725227356}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8711550235748291},{"id":"https://openalex.org/C2777482401","wikidata":"https://www.wikidata.org/wiki/Q469057","display_name":"Damp","level":2,"score":0.8312860727310181},{"id":"https://openalex.org/C2778512855","wikidata":"https://www.wikidata.org/wiki/Q6036808","display_name":"Input shaping","level":4,"score":0.7249758243560791},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.6264127492904663},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5493254661560059},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.46783319115638733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4476640224456787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4266131818294525},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3829938471317291},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.28299352526664734},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27315065264701843},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22037848830223083},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.1627907156944275},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.13441643118858337},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08846619725227356},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"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":4,"locations":[{"id":"doi:10.1109/robot.2008.4543609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543609","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:elib.dlr.de:55744","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.570.3550","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.570.3550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotic.de/fileadmin/robotic/fritz/papers/ka_la_hi_ICRA08_header.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.570.4728","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.570.4728","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://elib.dlr.de/55744/1/0416.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321450","display_name":"Bayerische Forschungsstiftung","ror":"https://ror.org/00emnts94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W121235835","https://openalex.org/W1517399133","https://openalex.org/W1666244758","https://openalex.org/W1981967360","https://openalex.org/W1986043299","https://openalex.org/W1999177683","https://openalex.org/W2066528473","https://openalex.org/W2114368079","https://openalex.org/W2115743583","https://openalex.org/W2121065696","https://openalex.org/W2127012622","https://openalex.org/W2128639033","https://openalex.org/W2129683590","https://openalex.org/W2147592724","https://openalex.org/W2147888380","https://openalex.org/W2152459517","https://openalex.org/W2157272628","https://openalex.org/W2297410252","https://openalex.org/W6604963009","https://openalex.org/W6631079863","https://openalex.org/W6636894146"],"related_works":["https://openalex.org/W2382214554","https://openalex.org/W3091903549","https://openalex.org/W3120750823","https://openalex.org/W2095148776","https://openalex.org/W2362559178","https://openalex.org/W4253442615","https://openalex.org/W4312274036","https://openalex.org/W1515327589","https://openalex.org/W2356735986","https://openalex.org/W2138863953"],"abstract_inverted_index":{"Compliance":[0],"in":[1,23],"robot":[2],"mounted":[3],"force/torque":[4],"sensors":[5],"is":[6,32,105],"useful":[7],"for":[8,73],"soft":[9],"mating":[10],"of":[11],"parts.":[12],"However":[13],"it":[14],"generates":[15],"nearly":[16],"undamped":[17],"oscillations":[18,85],"when":[19],"moving":[20],"the":[21,64,70,79,91,97],"end-effector":[22],"free":[24],"space.":[25],"In":[26,76],"this":[27,102],"paper,":[28],"input":[29,53,81],"shaping":[30,54,82],"control":[31,99],"investigated":[33],"to":[34,51,55,62,78,86],"damp":[35],"such":[36],"unwanted":[37],"flexible":[38],"modes.":[39],"We":[40],"present":[41],"a":[42],"new":[43],"design":[44],"technique":[45],"that":[46],"creates":[47],"long":[48,58],"impulse":[49],"sequences":[50],"adapt":[52],"systems":[56],"with":[57],"sampling":[59],"period":[60],"and":[61],"compensate":[63],"resulting":[65],"time":[66,103],"delay.":[67],"This":[68],"makes":[69],"method":[71],"feasible":[72],"industrial":[74],"robots.":[75],"addition":[77],"conventional":[80],"which":[83],"causes":[84],"stop":[87],"only":[88],"after":[89],"applying":[90],"last":[92],"impulse,":[93],"we":[94],"also":[95],"minimize":[96],"quadratic":[98],"error":[100],"until":[101],"step":[104],"reached.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}