{"id":"https://openalex.org/W2468924780","doi":"https://doi.org/10.1109/tie.2016.2583406","title":"Modeling and Preview &lt;inline-formula&gt; &lt;tex-math notation=\"LaTeX\"&gt;$H_\\infty$&lt;/tex-math&gt; &lt;/inline-formula&gt; Control Design for Motion Control of Elastic-Joint Robots With Uncertainties","display_name":"Modeling and Preview &lt;inline-formula&gt; &lt;tex-math notation=\"LaTeX\"&gt;$H_\\infty$&lt;/tex-math&gt; &lt;/inline-formula&gt; Control Design for Motion Control of Elastic-Joint Robots With Uncertainties","publication_year":2016,"publication_date":"2016-06-23","ids":{"openalex":"https://openalex.org/W2468924780","doi":"https://doi.org/10.1109/tie.2016.2583406","mag":"2468924780"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2016.2583406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2583406","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://centralesupelec.hal.science/hal-01415085","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018927741","display_name":"Maria Makarov","orcid":"https://orcid.org/0000-0002-6954-8993"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maria Makarov","raw_affiliation_strings":["Laboratoire des Signaux et Syst\u00e8mes, CentraleSup\u00e9lec, CNRS, Universit\u00e9 Paris-Sud, Gif-sur-Yvette, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":"https://orcid.org/0000-0002-6954-8993","affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes, CentraleSup\u00e9lec, CNRS, Universit\u00e9 Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109874922","display_name":"Mathieu Grossard","orcid":null},"institutions":[{"id":"https://openalex.org/I2738703131","display_name":"Commissariat \u00e0 l'\u00c9nergie Atomique et aux \u00c9nergies Alternatives","ror":"https://ror.org/00jjx8s55","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131"]},{"id":"https://openalex.org/I4210085861","display_name":"Laboratoire d'Int\u00e9gration des Syst\u00e8mes et des Technologies","ror":"https://ror.org/000dbcc61","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210085861","https://openalex.org/I4210117989"]},{"id":"https://openalex.org/I4210128565","display_name":"CEA Paris-Saclay","ror":"https://ror.org/03n15ch10","country_code":"FR","type":"government","lineage":["https://openalex.org/I2738703131","https://openalex.org/I277688954","https://openalex.org/I4210128565"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mathieu Grossard","raw_affiliation_strings":["Interactive Robotics Laboratory, CEA LIST, Gif-sur-Yvette, France","DIASI - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotics Laboratory, CEA LIST, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210085861"]},{"raw_affiliation_string":"DIASI - D\u00e9partement Intelligence Ambiante et Syst\u00e8mes Interactifs (CEA Saclay - Nanoinnov 91191 Gif-Sur-Yvette Cedex - France)","institution_ids":["https://openalex.org/I2738703131","https://openalex.org/I4210128565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066774503","display_name":"Pedro Rodr\u00edguez-Ayerbe","orcid":"https://orcid.org/0000-0001-7452-4155"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pedro Rodriguez-Ayerbe","raw_affiliation_strings":["Laboratoire des Signaux et Syst\u00e8mes, CentraleSup\u00e9lec, CNRS, Universit\u00e9 Paris-Sud, Gif-sur-Yvette, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes, CentraleSup\u00e9lec, CNRS, Universit\u00e9 Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053550980","display_name":"Didier Dumur","orcid":"https://orcid.org/0000-0002-0474-5080"},"institutions":[{"id":"https://openalex.org/I102197404","display_name":"Universit\u00e9 Paris-Sud","ror":"https://ror.org/028rypz17","country_code":"FR","type":"education","lineage":["https://openalex.org/I102197404"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210097418","display_name":"Laboratoire des signaux et syst\u00e8mes","ror":"https://ror.org/00skw9v43","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I277688954","https://openalex.org/I277688954","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Didier Dumur","raw_affiliation_strings":["Laboratoire des Signaux et Syst\u00e8mes, CentraleSup\u00e9lec, CNRS, Universit\u00e9 Paris-Sud, Gif-sur-Yvette, France","L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des Signaux et Syst\u00e8mes, CentraleSup\u00e9lec, CNRS, Universit\u00e9 Paris-Sud, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I102197404","https://openalex.org/I1294671590","https://openalex.org/I4210097418","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"L2S - Laboratoire des signaux et syst\u00e8mes (Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX - France)","institution_ids":["https://openalex.org/I4210097418"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.5024,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.98907779,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"63","issue":"10","first_page":"6429","last_page":"6438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9993000030517578,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9993000030517578,"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/T13644","display_name":"Control Systems in Engineering","score":0.9983999729156494,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9973999857902527,"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":0.5216237306594849},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5142857432365417},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4973941147327423},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4381164610385895},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.43647849559783936},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.43491148948669434},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4326529800891876},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4283473491668701},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40421366691589355},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38299116492271423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.341137170791626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33979231119155884},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25903430581092834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2514584958553314}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5216237306594849},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5142857432365417},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4973941147327423},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4381164610385895},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.43647849559783936},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.43491148948669434},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4326529800891876},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4283473491668701},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40421366691589355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38299116492271423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.341137170791626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33979231119155884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25903430581092834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2514584958553314},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tie.2016.2583406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2016.2583406","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01415085v1","is_oa":true,"landing_page_url":"https://centralesupelec.hal.science/hal-01415085","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Industrial Electronics, 2016, 63 (10), pp.6429 - 6438. &#x27E8;10.1109/TIE.2016.2583406&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01415085v1","is_oa":true,"landing_page_url":"https://centralesupelec.hal.science/hal-01415085","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Industrial Electronics, 2016, 63 (10), pp.6429 - 6438. &#x27E8;10.1109/TIE.2016.2583406&#x27E9;","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W189803804","https://openalex.org/W1577754176","https://openalex.org/W1692097135","https://openalex.org/W1884257066","https://openalex.org/W2016149927","https://openalex.org/W2018691083","https://openalex.org/W2051106197","https://openalex.org/W2062944516","https://openalex.org/W2072880541","https://openalex.org/W2073750743","https://openalex.org/W2076813718","https://openalex.org/W2078358038","https://openalex.org/W2102797102","https://openalex.org/W2109432868","https://openalex.org/W2113575195","https://openalex.org/W2122561974","https://openalex.org/W2125758201","https://openalex.org/W2128389099","https://openalex.org/W2131533646","https://openalex.org/W2132102811","https://openalex.org/W2141099300","https://openalex.org/W2142551056","https://openalex.org/W2149463699","https://openalex.org/W2150024155","https://openalex.org/W2152263389","https://openalex.org/W2160006523","https://openalex.org/W2167171827","https://openalex.org/W2269023139","https://openalex.org/W2548885051","https://openalex.org/W3142049467","https://openalex.org/W4240801863","https://openalex.org/W4285719527","https://openalex.org/W6676583249","https://openalex.org/W6678641855","https://openalex.org/W6693717562","https://openalex.org/W6729170675"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W2018658498","https://openalex.org/W2057244293","https://openalex.org/W1589486833","https://openalex.org/W2116883285","https://openalex.org/W2350319669","https://openalex.org/W2387672602"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,46,72,82,94],"novel":[4],"approach":[5],"combining":[6],"identification":[7],"and":[8,22,62,103,125,134,179,191],"control":[9,13,31,177,183],"design":[10,32,45,88,155,201],"for":[11,203],"motion":[12],"of":[14,25,36,111,118,157,187,206],"multiple-link":[15],"elastic-joint":[16],"robots":[17],"with":[18,49,67,153,162],"motor":[19,160],"sensors":[20],"only":[21],"in":[23,59,105,122,208],"presence":[24],"model":[26,60],"uncertainties.":[27],"The":[28,86],"proposed":[29,87,176],"model-based":[30],"method":[33,178],"makes":[34],"use":[35],"the":[37,78,106,112,116,119,139,158,166,175,180,185,188,192,204,209],"H":[38,142,197],"<sub":[39,143,198],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[40,144,199],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</sub>":[41,145,200],"(H-infinity)":[42],"framework":[43,202],"to":[44,53,71],"two-degree-of-freedom":[47,95],"controller":[48,113,146],"anticipation":[50],"able":[51],"both":[52,130],"1)":[54],"withstand":[55],"uncertainties":[56],"or":[57],"variations":[58],"parameters":[61],"2)":[63],"follow":[64],"reference":[65],"trajectories":[66],"prescribed":[68],"precision":[69,121],"thanks":[70],"preview":[73,141],"feedforward":[74],"action":[75,190],"which":[76,99],"anticipates":[77],"future":[79],"trajectory":[80,123],"on":[81,93,165],"given":[83],"time":[84],"horizon.":[85],"methodology":[89],"is":[90,100],"experimentally":[91],"evaluated":[92],"lightweight":[96],"robotic":[97],"arm,":[98],"first":[101],"modeled":[102],"identified":[104],"frequency":[107],"domain.":[108],"Experimental":[109],"validation":[110],"confirms":[114],"that":[115],"objectives":[117],"dynamic":[120,169],"tracking":[124],"tip":[126],"vibration":[127],"damping":[128],"are":[129],"achieved.":[131],"Additional":[132],"analysis":[133],"numerical":[135],"simulations":[136],"illustrate":[137],"how":[138],"presented":[140],"may":[147],"be":[148],"seen":[149],"as":[150],"an":[151,196],"extension,":[152],"supplementary":[154],"parameters,":[156],"traditional":[159,181],"feedback":[161],"compensations":[163],"based":[164],"robot":[167],"inverse":[168],"model.":[170],"A":[171],"performance":[172],"comparison":[173],"between":[174],"inversion-based":[182],"shows":[184],"benefits":[186],"anticipatory":[189],"possibilities":[193],"offered":[194],"by":[195],"management":[205],"tradeoffs":[207],"specifications.":[210]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":29},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2016-07-22T00:00:00"}
