{"id":"https://openalex.org/W2007677407","doi":"https://doi.org/10.1109/robot.2010.5509384","title":"Precise robot motions using dual motor control","display_name":"Precise robot motions using dual motor control","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2007677407","doi":"https://doi.org/10.1109/robot.2010.5509384","mag":"2007677407"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509384","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/A5087835202","display_name":"Sven Gesteg\u00e5rd Robertz","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sven Gesteg\u00e5rd Robertz","raw_affiliation_strings":["Department of Computer Science, Lund University, Sweden","[Department of Computer Science, Lund University, Sweden]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"[Department of Computer Science, Lund University, Sweden]","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031214351","display_name":"Lorenz Halt","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Lorenz Halt","raw_affiliation_strings":["Department of Computer Science, Lund University, Sweden","[Department of Computer Science, Lund University, Sweden]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"[Department of Computer Science, Lund University, Sweden]","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027827658","display_name":"Sameer Kelkar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165341","display_name":"Ammann (Switzerland)","ror":"https://ror.org/05nsn5c92","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210165341"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sameer Kelkar","raw_affiliation_strings":["Glidel AG, Langenthal, Switzerland","G\u00fcdel AG, Langenthal, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Glidel AG, Langenthal, Switzerland","institution_ids":[]},{"raw_affiliation_string":"G\u00fcdel AG, Langenthal, Switzerland","institution_ids":["https://openalex.org/I4210165341"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107119132","display_name":"Klas Nilsson","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Klas Nilsson","raw_affiliation_strings":["Department of Computer Science, Lund University, Sweden","[Department of Computer Science, Lund University, Sweden]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"[Department of Computer Science, Lund University, Sweden]","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Department of Automatic control, Lund University, Sweden","Department of Automatic Control, Lund University, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic control, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control, Lund University, Sweden#TAB#","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022954441","display_name":"Dominique Sch\u00e4r","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165341","display_name":"Ammann (Switzerland)","ror":"https://ror.org/05nsn5c92","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210165341"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dominique Scha\u0308r","raw_affiliation_strings":["G\u00fcdel AG, Langenthal, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"G\u00fcdel AG, Langenthal, Switzerland","institution_ids":["https://openalex.org/I4210165341"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078388731","display_name":"Johannes Schiffer","orcid":"https://orcid.org/0000-0001-5639-4326"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Johannes Schiffer","raw_affiliation_strings":["Department of Automatic control, Lund University, Sweden","Department of Automatic Control, Lund University, Sweden#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic control, Lund University, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Department of Automatic Control, Lund University, Sweden#TAB#","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5613","last_page":"5620"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9973000288009644,"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"}},"topics":[{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.9973000288009644,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9799000024795532,"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":0.9717000126838684,"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/backlash","display_name":"Backlash","score":0.9441708922386169},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.6759077310562134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6366979479789734},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5813097953796387},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5403732061386108},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5187654495239258},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.47679996490478516},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4703144133090973},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4702029824256897},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.45550867915153503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42988765239715576},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.4279499650001526},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.41583308577537537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1613105833530426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15592443943023682}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.9441708922386169},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.6759077310562134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6366979479789734},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5813097953796387},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5403732061386108},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5187654495239258},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.47679996490478516},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4703144133090973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4702029824256897},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.45550867915153503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42988765239715576},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.4279499650001526},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.41583308577537537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1613105833530426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15592443943023682},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509384","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:lup.lub.lu.se:3c043942-1228-48e0-a073-0608f79d9c98","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/1613310","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W23449636","https://openalex.org/W57303483","https://openalex.org/W244321673","https://openalex.org/W297398108","https://openalex.org/W1660278558","https://openalex.org/W1938659979","https://openalex.org/W1967142743","https://openalex.org/W2038482231","https://openalex.org/W2053874214","https://openalex.org/W2102778746","https://openalex.org/W2147867018","https://openalex.org/W2170090733","https://openalex.org/W2341668857","https://openalex.org/W2400192972","https://openalex.org/W4256526535","https://openalex.org/W6609388951","https://openalex.org/W6610435153","https://openalex.org/W6660390510"],"related_works":["https://openalex.org/W2365191442","https://openalex.org/W2491036639","https://openalex.org/W2357222218","https://openalex.org/W2359834440","https://openalex.org/W2374143010","https://openalex.org/W2074969456","https://openalex.org/W3086276429","https://openalex.org/W1976622387","https://openalex.org/W2390827194","https://openalex.org/W2903247355"],"abstract_inverted_index":{"High":[0],"motion":[1],"performance,":[2],"stiffness,":[3],"and":[4,34,95,103],"accuracy":[5,35],"are":[6,15,36,55,101],"crucial":[7],"for":[8,41,52,145,155],"industrial":[9,120],"robot":[10,83,116],"applications,":[11],"but":[12],"these":[13],"requirements":[14],"in":[16,37,44,74,105],"practice":[17],"contradictory.":[18],"Using":[19],"a":[20,109,114,118,132,138],"novel":[21],"type":[22],"of":[23,32,47,93,125],"robot,":[24],"the":[25,42,45,61,77,81,148],"so":[26],"called":[27],"Gantry":[28],"Tau,":[29],"new":[30],"combinations":[31],"stiffness":[33],"principle":[38],"possible,":[39],"except":[40],"backlash":[43,53,89,160],"drive-trains":[46],"each":[48],"joint.":[49],"Existing":[50],"techniques":[51],"reduction":[54],"either":[56],"mechanically":[57],"complex":[58],"or":[59],"limit":[60],"mechanical":[62],"bandwidth.":[63],"This":[64],"paper":[65],"presents":[66],"an":[67],"approach":[68],"based":[69],"on":[70,131],"dual":[71,133],"motors":[72],"connected":[73],"parallel":[75],"to":[76,117],"load,":[78],"such":[79],"that":[80],"entire":[82],"structure":[84],"can":[85],"be":[86],"made":[87],"practically":[88],"free":[90],"by":[91,161],"means":[92],"software":[94],"feedback":[96],"control.":[97],"Different":[98],"control":[99],"strategies":[100],"presented":[102],"evaluated":[104],"experiments":[106],"ranging":[107],"from":[108],"lab":[110],"servo":[111],"process":[112],"via":[113],"table-sized":[115],"large":[119],"implementation":[121],"with":[122,137],"several":[123],"meters":[124],"working":[126],"range.":[127],"Special":[128],"emphasis":[129],"was":[130,152],"motor":[134,150],"test":[135],"rig":[136],"linear":[139],"high-resolution":[140],"scale":[141],"(not":[142],"yet":[143],"used":[144],"feedback)":[146],"where":[147],"combined":[149],"torque":[151],"fully":[153],"utilized":[154],"high":[156],"acceleration,":[157],"while":[158],"reducing":[159],"over":[162],"96%.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}
