{"id":"https://openalex.org/W2769454729","doi":"https://doi.org/10.1109/tie.2017.2772157","title":"Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression","display_name":"Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression","publication_year":2017,"publication_date":"2017-11-28","ids":{"openalex":"https://openalex.org/W2769454729","doi":"https://doi.org/10.1109/tie.2017.2772157","mag":"2769454729"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2017.2772157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2772157","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Sun","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-8886-9012","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101731072","display_name":"Wei Yin","orcid":"https://orcid.org/0000-0003-1348-2304"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yin","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1348-2304","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101939498","display_name":"Meng Wang","orcid":"https://orcid.org/0000-0003-0180-0766"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Wang","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0180-0766","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2645-5655","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics, Institute of Robotics and Automatic Information System, Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":2.1657,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":{"value":0.87288653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"65","issue":"6","first_page":"4840","last_page":"4848"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9807000160217285,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9761000275611877,"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":0.841792643070221},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6409765481948853},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5856175422668457},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5488928556442261},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5438360571861267},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5294201970100403},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5287125706672668},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.512495756149292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5109773874282837},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.481456458568573},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.46915948390960693},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45664167404174805},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33812451362609863},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22830769419670105},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2218438684940338},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17755070328712463},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10069108009338379}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.841792643070221},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6409765481948853},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5856175422668457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5488928556442261},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5438360571861267},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5294201970100403},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5287125706672668},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.512495756149292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5109773874282837},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.481456458568573},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.46915948390960693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45664167404174805},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33812451362609863},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22830769419670105},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2218438684940338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17755070328712463},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10069108009338379},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2017.2772157","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2772157","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G624881979","display_name":null,"funder_award_id":"61573198","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W137543801","https://openalex.org/W1515073130","https://openalex.org/W1962965017","https://openalex.org/W1972518516","https://openalex.org/W1995090200","https://openalex.org/W1995343612","https://openalex.org/W2029273112","https://openalex.org/W2055140499","https://openalex.org/W2068027769","https://openalex.org/W2070865178","https://openalex.org/W2083934545","https://openalex.org/W2088841726","https://openalex.org/W2097032197","https://openalex.org/W2104181254","https://openalex.org/W2111253117","https://openalex.org/W2131686030","https://openalex.org/W2132411721","https://openalex.org/W2149112009","https://openalex.org/W2150024155","https://openalex.org/W2188422583","https://openalex.org/W2198912244","https://openalex.org/W2267593487","https://openalex.org/W2296118503","https://openalex.org/W2382354002","https://openalex.org/W2418313965","https://openalex.org/W2521727959","https://openalex.org/W2541693935","https://openalex.org/W2555363974","https://openalex.org/W2566495809","https://openalex.org/W2569608781","https://openalex.org/W2715822022","https://openalex.org/W3151832812","https://openalex.org/W4243385754","https://openalex.org/W6793796290"],"related_works":["https://openalex.org/W3013085049","https://openalex.org/W2379084545","https://openalex.org/W1560496689","https://openalex.org/W1992739770","https://openalex.org/W4386900933","https://openalex.org/W4229058035","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W2050693590"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,26],"position":[4],"control":[5,24],"scheme":[6],"for":[7,35],"flexible":[8],"joint":[9],"robot":[10],"based":[11],"on":[12],"online":[13],"gravity":[14],"compensation":[15],"(OGC).":[16],"After":[17],"concluding":[18],"some":[19],"drawbacks":[20],"of":[21,37,43,59,76],"OGC-based":[22],"PD":[23],"law,":[25],"nonlinear":[27],"state":[28],"feedback":[29],"controller":[30],"is":[31,46,49,54,63],"designed,":[32],"where":[33],"analysis":[34],"overshoots":[36],"motor":[38],"side":[39,45],"and":[40,56],"residual":[41],"vibration":[42],"link":[44],"provided.":[47],"It":[48],"shown":[50],"that":[51],"asymptotic":[52],"stability":[53],"guaranteed,":[55],"each":[57],"signal":[58],"closed":[60],"loop":[61],"system":[62],"proved":[64],"to":[65],"be":[66],"bounded":[67],"via":[68],"Lyapunov":[69],"method.":[70],"Comparing":[71],"experiment":[72],"results":[73],"illustrate":[74],"effectiveness":[75],"the":[77],"proposed":[78],"approach.":[79]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}