{"id":"https://openalex.org/W2964659959","doi":"https://doi.org/10.1109/romoco.2019.8787386","title":"Robot Modeling and Control Using the Motor Algebra Framework","display_name":"Robot Modeling and Control Using the Motor Algebra Framework","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2964659959","doi":"https://doi.org/10.1109/romoco.2019.8787386","mag":"2964659959"},"language":"en","primary_location":{"id":"doi:10.1109/romoco.2019.8787386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","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/A5017356611","display_name":"Eduardo Bayro\u2013Corrochano","orcid":"https://orcid.org/0000-0002-4738-3593"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Eduardo Bayro-Corrochano","raw_affiliation_strings":["CINVESTAV, Department of Electrical Engineering and Computer Science, Jalisco, M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"CINVESTAV, Department of Electrical Engineering and Computer Science, Jalisco, M\u00e9xico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5017356611"],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.12589255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12037","display_name":"Algebraic and Geometric Analysis","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2604","display_name":"Applied Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12037","display_name":"Algebraic and Geometric Analysis","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2604","display_name":"Applied Mathematics"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9684000015258789,"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":0.9538000226020813,"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":0.6154237389564514},{"id":"https://openalex.org/keywords/linear-algebra","display_name":"Linear algebra","score":0.5790808200836182},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.5722032189369202},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5710656642913818},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5169536471366882},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.4717945456504822},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4531042277812958},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4302177131175995},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3734002113342285},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2981436252593994},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2788611054420471},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27750223875045776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24988389015197754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15579316020011902},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0900455117225647}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6154237389564514},{"id":"https://openalex.org/C139352143","wikidata":"https://www.wikidata.org/wiki/Q82571","display_name":"Linear algebra","level":2,"score":0.5790808200836182},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.5722032189369202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5710656642913818},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5169536471366882},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.4717945456504822},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4531042277812958},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4302177131175995},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3734002113342285},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2981436252593994},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2788611054420471},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27750223875045776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24988389015197754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15579316020011902},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0900455117225647},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/romoco.2019.8787386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/romoco.2019.8787386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"},{"id":"https://openalex.org/F4320322481","display_name":"Politechnika Pozna\u0144ska","ror":"https://ror.org/00p7p3302"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W195945022","https://openalex.org/W229458437","https://openalex.org/W1516289514","https://openalex.org/W2040040776","https://openalex.org/W2911914378"],"related_works":["https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1482785882","https://openalex.org/W2376218423","https://openalex.org/W2761624296"],"abstract_inverted_index":{"The":[0,25,60],"dynamic":[1,34],"model":[2,35],"of":[3,17,36],"a":[4,52,56,72],"robot":[5],"arm":[6],"is":[7,68],"derived":[8],"based":[9],"on":[10],"the":[11,21,32,47],"iterative":[12,26],"Newton-Euler":[13],"formalism":[14],"in":[15,20],"terms":[16],"screw":[18],"theory":[19],"motor":[22],"algebra":[23],"framework.":[24],"method":[27],"allows":[28],"us":[29],"to":[30,41],"compute":[31],"local":[33],"each":[37],"joint":[38],"and":[39,55,70],"therefore":[40],"apply":[42],"localized":[43],"non-linear":[44,73],"controllers.":[45,59],"In":[46],"experimental":[48,61],"analysis,":[49],"we":[50],"compare":[51],"SE(3)":[53],"PD":[54],"sliding":[57],"mode":[58],"analysis":[62],"shows":[63],"that":[64],"our":[65],"control":[66],"law":[67],"stable":[69],"tracks":[71],"trajectory.":[74]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}