{"id":"https://openalex.org/W1978755100","doi":"https://doi.org/10.1109/robot.2010.5509376","title":"An analysis of the operational space control of robots","display_name":"An analysis of the operational space control of robots","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1978755100","doi":"https://doi.org/10.1109/robot.2010.5509376","mag":"1978755100"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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":"https://openalex.org/A5111642430","display_name":"Ngoc Dung Vuong","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ngoc Dung Vuong","raw_affiliation_strings":["National University of Singapore, Singapore","National University of Singapore, 9 Engineering Drive 1, Singapore 117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore, 9 Engineering Drive 1, Singapore 117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H Ang","raw_affiliation_strings":["National University of Singapore, Singapore","National University of Singapore, 9 Engineering Drive 1, Singapore 117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore, 9 Engineering Drive 1, Singapore 117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103541446","display_name":"Tao Ming Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tao Ming Lim","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore","SIMTech, 71 Nanyang Drive, Singapore, 638075"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"SIMTech, 71 Nanyang Drive, Singapore, 638075","institution_ids":["https://openalex.org/I4210091207"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111979185","display_name":"Ser Yong Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ser Yong Lim","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore","SIMTech, 71 Nanyang Drive, Singapore, 638075"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"SIMTech, 71 Nanyang Drive, Singapore, 638075","institution_ids":["https://openalex.org/I4210091207"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"16","issue":null,"first_page":"4163","last_page":"4168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9959999918937683,"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/robot","display_name":"Robot","score":0.6269420385360718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6137109994888306},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5961254835128784},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5404065847396851},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5276899337768555},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5144034028053284},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5062243342399597},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4415222704410553},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41686296463012695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21460235118865967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19462671875953674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13609400391578674}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6269420385360718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6137109994888306},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5961254835128784},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5404065847396851},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5276899337768555},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5144034028053284},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5062243342399597},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4415222704410553},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41686296463012695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21460235118865967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19462671875953674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13609400391578674},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/73149","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/73149","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"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":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1488435683","https://openalex.org/W1513016807","https://openalex.org/W1515224583","https://openalex.org/W1520358907","https://openalex.org/W1969685084","https://openalex.org/W1997507572","https://openalex.org/W2004529839","https://openalex.org/W2012377591","https://openalex.org/W2016514184","https://openalex.org/W2045560780","https://openalex.org/W2100476631","https://openalex.org/W2100790457","https://openalex.org/W2112474089","https://openalex.org/W2119433335","https://openalex.org/W2138873048","https://openalex.org/W2146764783","https://openalex.org/W2155564215","https://openalex.org/W2164032318","https://openalex.org/W2164833077","https://openalex.org/W2168422807","https://openalex.org/W2527081555","https://openalex.org/W6631291244"],"related_works":["https://openalex.org/W2732220824","https://openalex.org/W2615607975","https://openalex.org/W2192101006","https://openalex.org/W2116800748","https://openalex.org/W2638730922","https://openalex.org/W2190465783","https://openalex.org/W2027827693","https://openalex.org/W2381267592","https://openalex.org/W4241033836","https://openalex.org/W3135637940"],"abstract_inverted_index":{"Theoretically,":[0],"the":[1,11,22,32,41,49,58,67,78,84,90,93,107,114],"operational":[2,71,95,109],"space":[3,60,63,72,96,110],"control":[4,14,23,64,73,85,111],"framework":[5,15,27,112],"can":[6,53],"be":[7,10],"regarded":[8],"to":[9,76],"most":[12],"advanced":[13],"for":[16],"redundant":[17],"robots.":[18],"However,":[19],"in":[20,31],"practice,":[21],"performance":[24,86],"of":[25,34,80,92,106],"this":[26,45,99],"is":[28],"significantly":[29],"degraded":[30],"presence":[33],"model":[35,51,81],"uncertainties":[36,52,82],"and":[37,61,87],"discretizing":[38],"effects.":[39],"Using":[40],"singular":[42],"perturbation":[43],"theory,":[44],"paper":[46],"shows":[47],"that":[48],"same":[50],"create":[54],"different":[55],"effects":[56,79],"on":[57,83],"task":[59],"joint":[62],"performance.":[65],"From":[66],"analysis,":[68],"a":[69,103],"multi-rate":[70,108],"was":[74],"proposed":[75],"minimize":[77],"while":[88],"maintaining":[89],"advantages":[91],"original":[94],"framework.":[97],"In":[98],"paper,":[100],"we":[101],"present":[102],"stability":[104],"analysis":[105],"using":[113],"Lyapunov's":[115],"direct":[116],"method.":[117]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
