{"id":"https://openalex.org/W2785560487","doi":"https://doi.org/10.1109/sii.2017.8279288","title":"Motion control for robotic arm with rotational counterweights","display_name":"Motion control for robotic arm with rotational counterweights","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2785560487","doi":"https://doi.org/10.1109/sii.2017.8279288","mag":"2785560487"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2017.8279288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","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/A5048076331","display_name":"Ryosuke Ishine","orcid":null},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ryosuke Ishine","raw_affiliation_strings":["Graduate School of Information Science and Electrical Engineering, Kyushu University, Nishi-ku, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Electrical Engineering, Kyushu University, Nishi-ku, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101533766","display_name":"Akihiro Kawamura","orcid":"https://orcid.org/0000-0003-4521-235X"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihiro Kawamura","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering, Kyushu University, Nishi-ku, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Nishi-ku, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073445963","display_name":"Ryo Kurazume","orcid":"https://orcid.org/0000-0002-4219-7644"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Kurazume","raw_affiliation_strings":["Faculty of Information Science and Electrical Engineering, Kyushu University, Nishi-ku, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Information Science and Electrical Engineering, Kyushu University, Nishi-ku, Fukuoka, Japan","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103976114","display_name":"Sadao Kawamura","orcid":null},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sadao Kawamura","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Kusatsu-shi, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Kusatsu-shi, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048076331"],"corresponding_institution_ids":["https://openalex.org/I135598925"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23764074,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"133","issue":null,"first_page":"608","last_page":"613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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/robotic-arm","display_name":"Robotic arm","score":0.7668975591659546},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7284635305404663},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5762620568275452},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5543041229248047},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5398489832878113},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5070517063140869},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.499908447265625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48077863454818726},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4786204695701599},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4503815770149231},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41253039240837097},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3291023373603821},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3206326365470886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21805182099342346},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1639721393585205}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7668975591659546},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7284635305404663},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5762620568275452},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5543041229248047},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5398489832878113},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5070517063140869},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.499908447265625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48077863454818726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4786204695701599},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4503815770149231},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41253039240837097},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3291023373603821},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3206326365470886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21805182099342346},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1639721393585205},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2017.8279288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2017.8279288","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322670","display_name":"Tehran University of Medical Sciences and Health Services","ror":"https://ror.org/01c4pz451"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1532435205","https://openalex.org/W1975899417","https://openalex.org/W1979259608","https://openalex.org/W1981716846","https://openalex.org/W2021150911","https://openalex.org/W2061973816","https://openalex.org/W2132587961","https://openalex.org/W2151279424","https://openalex.org/W2153195092"],"related_works":["https://openalex.org/W1979758163","https://openalex.org/W2294490033","https://openalex.org/W1985052846","https://openalex.org/W4386036352","https://openalex.org/W3213378276","https://openalex.org/W2077400647","https://openalex.org/W4312935962","https://openalex.org/W1988042083","https://openalex.org/W2352183647","https://openalex.org/W2312533462"],"abstract_inverted_index":{"This":[0,14],"paper":[1,70],"proposes":[2],"a":[3],"new":[4,64],"control":[5,30,36,65,74,105],"method":[6,66,127],"for":[7,103],"the":[8,25,29,34,38,45,54,58,72,82,90,93,96,112,115,123,126],"robotic":[9,15,109,116],"arm":[10,16,117],"with":[11],"rotational":[12],"counterweights.":[13,26],"is":[17,51,128],"actuated":[18],"by":[19],"gravitational":[20],"and":[21,78],"inertia":[22],"torque":[23],"of":[24,37,57,75,92,106,114,125],"To":[27],"date,":[28],"law":[31],"which":[32],"achieves":[33,71],"angle":[35,73],"robot":[39,50],"has":[40],"been":[41,61],"proposed.":[42],"However,":[43],"in":[44,68],"research,":[46],"only":[47],"1":[48],"DOF":[49],"discussed.":[52],"Moreover,":[53],"stability":[55],"analysis":[56],"dynamics":[59,94],"hasn't":[60],"shown.":[62],"The":[63],"proposed":[67],"this":[69,86],"2":[76,107],"DOFs,":[77],"we":[79,88,99],"can":[80],"prove":[81],"dynamic":[83],"stability.":[84],"In":[85],"paper,":[87],"show":[89],"convergence":[91],"considering":[95],"method.":[97],"Also":[98],"conduct":[100],"numerical":[101],"simulations":[102],"position":[104],"DOFs":[108],"arm.":[110],"Verifying":[111],"angles":[113],"converge":[118],"to":[119],"its":[120],"desired":[121],"angles,":[122],"utility":[124],"demonstrated.":[129]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}