{"id":"https://openalex.org/W1984109892","doi":"https://doi.org/10.1109/robot.2010.5509991","title":"Integrated controller for an over-constrained cable driven parallel manipulator: KNTU CDRPM","display_name":"Integrated controller for an over-constrained cable driven parallel manipulator: KNTU CDRPM","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W1984109892","doi":"https://doi.org/10.1109/robot.2010.5509991","mag":"1984109892"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509991","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":"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/A5071557380","display_name":"Alaleh Vafaei","orcid":null},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Alaleh Vafaei","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, P.O. Box 16315-1355, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, P.O. Box 16315-1355, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025625789","display_name":"Mohammad M. Aref","orcid":"https://orcid.org/0000-0001-8326-8421"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad M Aref","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, P.O. Box 16315-1355, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, P.O. Box 16315-1355, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070019550","display_name":"Hamid D. Taghirad","orcid":"https://orcid.org/0000-0002-0615-6730"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Hamid D Taghirad","raw_affiliation_strings":["Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, P.O. Box 16315-1355, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Advanced Robotics and Automated Systems (ARAS), Faculty of Electrical and Computer Engineering, K. N. Toosi University of Technology, P.O. Box 16315-1355, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":5.1043,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.9471259,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8081457614898682},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6906212568283081},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6376574635505676},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6138045787811279},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5899244546890259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5848450660705566},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5730541348457336},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5360095500946045},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5077062845230103},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4857833683490753},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4800454378128052},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.47813355922698975},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.41643229126930237},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33327093720436096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3015150725841522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2835356891155243},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1281052529811859},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06252112984657288}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8081457614898682},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6906212568283081},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6376574635505676},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6138045787811279},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5899244546890259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5848450660705566},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5730541348457336},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5360095500946045},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5077062845230103},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4857833683490753},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4800454378128052},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.47813355922698975},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.41643229126930237},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33327093720436096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3015150725841522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2835356891155243},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1281052529811859},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06252112984657288},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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.2010.5509991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509991","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:CiteSeerX.psu:10.1.1.689.6696","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.689.6696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://saba.kntu.ac.ir/eecd/taghirad/papers/2010_ICRA_alaleh.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1556511118","https://openalex.org/W1967030176","https://openalex.org/W1985121850","https://openalex.org/W2027986824","https://openalex.org/W2037984909","https://openalex.org/W2053812618","https://openalex.org/W2059796737","https://openalex.org/W2065927905","https://openalex.org/W2098066152","https://openalex.org/W2102917443","https://openalex.org/W2115529287","https://openalex.org/W2117489634","https://openalex.org/W2120329568","https://openalex.org/W2120734204","https://openalex.org/W2124865555","https://openalex.org/W2138950221","https://openalex.org/W2142477169","https://openalex.org/W2152963732","https://openalex.org/W2157280507","https://openalex.org/W2158004366","https://openalex.org/W2163063471","https://openalex.org/W2167515250","https://openalex.org/W2170585535","https://openalex.org/W2341668857","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W2997123088","https://openalex.org/W4292929576","https://openalex.org/W6667035253","https://openalex.org/W6683597566"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083","https://openalex.org/W2394251694"],"abstract_inverted_index":{"This":[0],"paper":[1,55],"presents":[2],"an":[3,13],"approach":[4,21],"to":[5,84,126],"the":[6,9,32,35,38,43,46,60,73,78,92,99,112,119,130],"control":[7,15,75,100],"of":[8,42,59,86,98],"KNTU":[10,131],"CDRPM":[11],"using":[12],"integrated":[14,74],"scheme.":[16],"The":[17,95,114],"goal":[18],"in":[19,31,66,91],"this":[20,54],"is":[22,64,70,102,109,122],"achieving":[23],"accurate":[24],"trajectory":[25],"tracking":[26,48,79],"while":[27],"assuring":[28],"positive":[29],"tension":[30],"cables.":[33],"By":[34],"proposed":[36,120],"controller,":[37],"inherent":[39],"nonlinear":[40],"behavior":[41],"cable":[44,139],"and":[45],"target":[47],"errors":[49],"are":[50],"simultaneously":[51],"compensated.":[52],"In":[53],"asymptotic":[56],"stability":[57],"analysis":[58],"close":[61],"loop":[62,89],"system":[63],"studied":[65],"detail.":[67],"Moreover,":[68],"it":[69],"shown":[71],"that":[72,85,108,118],"strategy":[76],"reduces":[77],"error":[80],"by":[81,104],"80%":[82],"compared":[83],"a":[87,105],"single":[88],"controller":[90,121],"considered":[93],"manipulator.":[94,113],"closed-loop":[96],"performance":[97],"topology":[101],"analyzed":[103],"simulation":[106,115],"study":[107,116],"performed":[110],"on":[111,129],"verifies":[117],"not":[123],"only":[124],"promising":[125],"be":[127],"implemented":[128],"CDRPM,":[132],"but":[133],"also":[134],"being":[135],"suitable":[136],"for":[137],"other":[138],"driven":[140],"manipulators.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}