{"id":"https://openalex.org/W2144270907","doi":"https://doi.org/10.1109/robot.2008.4543726","title":"Practical robust control for flexible joint robot manipulators","display_name":"Practical robust control for flexible joint robot manipulators","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2144270907","doi":"https://doi.org/10.1109/robot.2008.4543726","mag":"2144270907"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543726","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/A5111747415","display_name":"Je Sung Yeon","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Je Sung Yeon","raw_affiliation_strings":["Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","Dept. of Mech. Eng., Hanyang Univ., Seoul"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Hanyang Univ., Seoul","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103029432","display_name":"Jong Hyeon Park","orcid":"https://orcid.org/0000-0001-6263-375X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Hyeon Park","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea","School of Mechanical Engineering, Hanyang University, 17 Haengdang-Dong, Sungdong-Ku, Seoul 133-791, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, 17 Haengdang-Dong, Sungdong-Ku, Seoul 133-791, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111747415"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":12.454,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.98555414,"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":"3377","last_page":"3382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear 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/T10040","display_name":"Adaptive Control of Nonlinear 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9986000061035156,"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":0.9983999729156494,"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":0.802951455116272},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.7588444948196411},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6115142703056335},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5450182557106018},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5375231504440308},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5372803807258606},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5364535450935364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5137234926223755},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48526450991630554},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4296824634075165},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41875773668289185},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3992398977279663},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33347460627555847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1492137908935547}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.802951455116272},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.7588444948196411},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6115142703056335},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5450182557106018},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5375231504440308},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5372803807258606},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5364535450935364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5137234926223755},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48526450991630554},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4296824634075165},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41875773668289185},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3992398977279663},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33347460627555847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1492137908935547},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum 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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2008.4543726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543726","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":[{"score":0.7200000286102295,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1580567622","https://openalex.org/W1954054503","https://openalex.org/W2023319687","https://openalex.org/W2045689494","https://openalex.org/W2060014164","https://openalex.org/W2109640889","https://openalex.org/W2122111339","https://openalex.org/W2125037149","https://openalex.org/W2134713072","https://openalex.org/W2645024896","https://openalex.org/W2989101263","https://openalex.org/W3017279919","https://openalex.org/W3023665282","https://openalex.org/W6678223801","https://openalex.org/W6776178447"],"related_works":["https://openalex.org/W1980376593","https://openalex.org/W1583418636","https://openalex.org/W2549036505","https://openalex.org/W2102992329","https://openalex.org/W2678486179","https://openalex.org/W1925083093","https://openalex.org/W1979214824","https://openalex.org/W2685330831","https://openalex.org/W324942907","https://openalex.org/W2142692775"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"proposed":[4,94],"a":[5,55,85],"practical":[6],"robust":[7,27,65,80,95],"controller":[8,96],"which":[9],"has":[10,97],"simple":[11],"structure,":[12],"more":[13],"easy":[14],"tuning":[15],"factor,":[16],"and":[17,64,101],"control":[18,24,28,49,58,62,66,81],"forms":[19],"having":[20],"direct":[21],"relation":[22],"with":[23,90],"performance.":[25],"This":[26],"is":[29,82],"designed":[30,79],"using":[31,73],"the":[32,70,74],"motor":[33],"side":[34],"dynamics":[35],"directly.":[36],"The":[37,78,93],"design":[38],"procedure":[39],"consists":[40],"of":[41],"three":[42],"parts.":[43],"A":[44],"model":[45],"based":[46,57],"computed":[47],"torque":[48],"part":[50,59,67],"to":[51,60,68,84],"decrease":[52],"stead-state":[53],"errors,":[54],"feedback":[56],"increase":[61],"accuracy,":[63],"maintain":[69],"tracking":[71,99],"performance":[72,100],"nonlinear":[75],"H-infinity":[76],"control.":[77],"applied":[83],"6":[86],"DOF":[87],"robot":[88],"manipulator":[89],"joint":[91],"flexibilities.":[92],"better":[98],"advantage":[102],"in":[103],"its":[104],"application.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}