{"id":"https://openalex.org/W4389538761","doi":"https://doi.org/10.1109/taes.2023.3341056","title":"Position/Force Control for a Dual-Arm Space Manipulator Gripping and Transporting an Unknown Target Without Grapple Fixtures","display_name":"Position/Force Control for a Dual-Arm Space Manipulator Gripping and Transporting an Unknown Target Without Grapple Fixtures","publication_year":2023,"publication_date":"2023-12-11","ids":{"openalex":"https://openalex.org/W4389538761","doi":"https://doi.org/10.1109/taes.2023.3341056"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2023.3341056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3341056","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-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/A5086308445","display_name":"M. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingchao Wang","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0001-5486-5374","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053946500","display_name":"Lijun Zong","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zong","raw_affiliation_strings":["Key Laboratory of Aircraft High Performance Assembly, Ministry of Industry and Information Technology, School of Mechanical Engineering, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0001-8977-179X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Aircraft High Performance Assembly, Ministry of Industry and Information Technology, School of Mechanical Engineering, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004","https://openalex.org/I890469752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077597756","display_name":"Jianping Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianping Yuan","raw_affiliation_strings":["National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China"],"raw_orcid":"https://orcid.org/0000-0001-9561-8310","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086308445"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":1.3926,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.79037624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"60","issue":"2","first_page":"1770","last_page":"1783"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.998199999332428,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.998199999332428,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9901999831199646,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9445000290870667,"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/workspace","display_name":"Workspace","score":0.7029145359992981},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6319172978401184},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6249759793281555},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6015284061431885},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5090424418449402},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.48682183027267456},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4845380187034607},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4703393578529358},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4490059018135071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.448715478181839},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.43798407912254333},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.437561571598053},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38968876004219055},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38422691822052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3044509291648865},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2554657459259033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15494677424430847}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7029145359992981},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6319172978401184},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6249759793281555},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6015284061431885},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5090424418449402},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.48682183027267456},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4845380187034607},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4703393578529358},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4490059018135071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.448715478181839},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.43798407912254333},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.437561571598053},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38968876004219055},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38422691822052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3044509291648865},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2554657459259033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15494677424430847},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2023.3341056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3341056","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1947158743","https://openalex.org/W2052461577","https://openalex.org/W2056373197","https://openalex.org/W2080641008","https://openalex.org/W2090308161","https://openalex.org/W2155985001","https://openalex.org/W2157453001","https://openalex.org/W2162346131","https://openalex.org/W2247230765","https://openalex.org/W2512251902","https://openalex.org/W2562662934","https://openalex.org/W2608076760","https://openalex.org/W2626524254","https://openalex.org/W2724966843","https://openalex.org/W2734675588","https://openalex.org/W2737533681","https://openalex.org/W2792875002","https://openalex.org/W2896532344","https://openalex.org/W2944532584","https://openalex.org/W2948006282","https://openalex.org/W2967084655","https://openalex.org/W2997727809","https://openalex.org/W3007682066","https://openalex.org/W3022939953","https://openalex.org/W3036361524","https://openalex.org/W3080425754","https://openalex.org/W3090044050","https://openalex.org/W3123526999","https://openalex.org/W3148688985","https://openalex.org/W3170842637","https://openalex.org/W3215459290","https://openalex.org/W4214747265","https://openalex.org/W4289732024","https://openalex.org/W4296683488","https://openalex.org/W4305057154","https://openalex.org/W4380366481","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220","https://openalex.org/W1926827207","https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1976172674"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,10,88],"position":[4],"and":[5,16,35,40,56,125],"force":[6,59,79,85],"control":[7,130],"method":[8],"for":[9,109],"dual-arm":[11,111],"space":[12,112],"manipulator":[13,113],"to":[14,32,93,121],"grip":[15,94],"transport":[17],"an":[18],"unknown":[19,96],"target":[20,97],"without":[21,98],"grapple":[22,99],"fixtures.":[23],"The":[24,58],"hierarchical":[25],"sliding":[26],"mode":[27],"controller":[28,60],"drives":[29],"the":[30,38,42,51,70,75,78,83,95,110,123,128],"end-effectors":[31],"desired":[33],"positions":[34],"attitudes":[36],"in":[37,45],"workspace":[39],"limits":[41],"joints'":[43],"displacements":[44],"certain":[46],"ranges":[47],"simultaneously,":[48],"which":[49,81],"has":[50],"advantage":[52],"of":[53,68,77,127],"avoiding":[54],"self-collision":[55],"singularities.":[57],"is":[61,107],"designed":[62],"based":[63],"on":[64],"reinforcement":[65],"learning":[66],"instead":[67],"modeling":[69],"dynamic":[71],"contact":[72,84],"process":[73],"or":[74],"usage":[76],"senors,":[80],"regulates":[82],"by":[86],"training":[87],"proximal":[89],"policy":[90],"optimization":[91],"agent":[92],"fixtures":[100],"during":[101],"transportation.":[102],"A":[103],"physical":[104],"simulation":[105],"system":[106],"built":[108],"operation":[114],"system.":[115],"Numerical":[116],"simulations":[117],"are":[118],"carried":[119],"out":[120],"verify":[122],"applicability":[124],"effectiveness":[126],"proposed":[129],"method.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
