{"id":"https://openalex.org/W2134620233","doi":"https://doi.org/10.1109/tcst.2008.2000978","title":"Active Joint Synchronization Control for a 2-DOF Redundantly Actuated Parallel Manipulator","display_name":"Active Joint Synchronization Control for a 2-DOF Redundantly Actuated Parallel Manipulator","publication_year":2008,"publication_date":"2008-12-03","ids":{"openalex":"https://openalex.org/W2134620233","doi":"https://doi.org/10.1109/tcst.2008.2000978","mag":"2134620233"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2008.2000978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2008.2000978","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","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/A5031221880","display_name":"Weiwei Shang","orcid":"https://orcid.org/0000-0001-7541-2198"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weiwei Shang","raw_affiliation_strings":["Department of Automation, University of Science and Technology, Hefei, Anhui, China","Department of Automation, University of Science and Technology of China, Hefei"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047621347","display_name":"Shuang Cong","orcid":"https://orcid.org/0000-0001-8101-0128"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Cong","raw_affiliation_strings":["Department of Automation, University of Science and Technology, Hefei, Anhui, China","Department of Automation, University of Science and Technology of China, Hefei"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101960872","display_name":"Yaoxin Zhang","orcid":"https://orcid.org/0000-0002-7942-6623"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoxin Zhang","raw_affiliation_strings":["Department of Automation, University of Science and Technology, Hefei, Anhui, China","Department of Automation, University of Science and Technology of China, Hefei"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100837857","display_name":"Yanyang Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanyang Liang","raw_affiliation_strings":["Department of Automation, University of Science and Technology, Hefei, Anhui, China","Department of Automation, University of Science and Technology of China, Hefei"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology, Hefei, Anhui, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031221880"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":11.5149,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.98344333,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"17","issue":"2","first_page":"416","last_page":"423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9995999932289124,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9995999932289124,"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":0.9934999942779541,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9926999807357788,"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":0.8634411096572876},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.7031784057617188},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6391065120697021},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.6333803534507751},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5746155381202698},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5282173156738281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41719335317611694},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35322991013526917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21448731422424316},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14209404587745667},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.12451115250587463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12113681435585022},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06281697750091553}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8634411096572876},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.7031784057617188},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6391065120697021},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.6333803534507751},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5746155381202698},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5282173156738281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41719335317611694},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35322991013526917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21448731422424316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14209404587745667},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.12451115250587463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12113681435585022},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06281697750091553},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/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/tcst.2008.2000978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2008.2000978","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1564897360","https://openalex.org/W1586473229","https://openalex.org/W1977845698","https://openalex.org/W1992813684","https://openalex.org/W2000582666","https://openalex.org/W2011900614","https://openalex.org/W2012500802","https://openalex.org/W2057787077","https://openalex.org/W2060959539","https://openalex.org/W2071981488","https://openalex.org/W2080026597","https://openalex.org/W2098578314","https://openalex.org/W2105174847","https://openalex.org/W2113775715","https://openalex.org/W2113880180","https://openalex.org/W2120329568","https://openalex.org/W2124920224","https://openalex.org/W2128396151","https://openalex.org/W2152182810","https://openalex.org/W2154222948","https://openalex.org/W2161425440","https://openalex.org/W2162495121","https://openalex.org/W2168276846","https://openalex.org/W2168785016","https://openalex.org/W2170585535","https://openalex.org/W2171178391","https://openalex.org/W2313425042","https://openalex.org/W2341668857","https://openalex.org/W2356814192","https://openalex.org/W2372163526","https://openalex.org/W4256526535","https://openalex.org/W6678805961","https://openalex.org/W6682976783"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W2038930466","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2018658498","https://openalex.org/W2161688277","https://openalex.org/W4382936077"],"abstract_inverted_index":{"This":[0],"brief":[1],"applies":[2],"the":[3,15,40,46,52,58,62,67,75,83,88,91,96,102,120,129,142,145,149],"synchronization":[4,16,78,117],"to":[5,107,111],"solve":[6],"control":[7],"problem":[8],"of":[9,39,87,113,133,144],"redundantly":[10,32,137],"actuated":[11,33,138],"parallel":[12,34,41,139],"manipulators.":[13],"With":[14],"method,":[17],"a":[18,29],"new":[19],"controller":[20,25,93,104,125,147,152],"termed":[21],"active":[22,47,89],"joint-synchronization":[23],"(AJ-S)":[24],"is":[26,43,55,64,99,105,126,153],"developed":[27],"for":[28],"2-degree-of-freedom":[30],"(DOF)":[31],"manipulator.":[35],"The":[36,123],"dynamic":[37,97],"model":[38,98],"manipulator":[42],"formulated":[44],"in":[45,50,128],"joint":[48],"space,":[49],"which":[51],"internal":[53],"force":[54],"calculated":[56],"by":[57,119],"projection":[59],"method":[60],"and":[61,82,116,141],"friction":[63,71],"depicted":[65],"with":[66],"Coulomb":[68],"+":[69],"viscous":[70],"model.":[72],"By":[73],"defining":[74],"tracking":[76,115,131,151],"error,":[77,79,81],"coupled":[80],"referenced":[84],"trajectory":[85,130],"vector":[86],"joints,":[90],"AJ-S":[92,103,124,146],"based":[94],"on":[95],"designed.":[100],"And":[101],"proven":[106],"guarantee":[108],"asymptotic":[109],"convergence":[110],"zero":[112],"both":[114],"errors":[118],"Barbalat's":[121],"lemma.":[122],"implemented":[127],"experiments":[132],"an":[134],"actual":[135],"2-DOF":[136],"manipulator,":[140],"superiority":[143],"over":[148],"well-known":[150],"studied.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}