{"id":"https://openalex.org/W4408017454","doi":"https://doi.org/10.1109/tim.2025.3546374","title":"Online Terminal Force Estimation of Hydraulic Manipulator With Prior Torque Variance","display_name":"Online Terminal Force Estimation of Hydraulic Manipulator With Prior Torque Variance","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408017454","doi":"https://doi.org/10.1109/tim.2025.3546374"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3546374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3546374","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5041969609","display_name":"Min Cheng","orcid":"https://orcid.org/0000-0002-8345-6657"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Cheng","raw_affiliation_strings":["State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, China","Min Cheng with the State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, China"],"raw_orcid":"https://orcid.org/0000-0002-8345-6657","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"Min Cheng with the State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065112227","display_name":"Renming Li","orcid":"https://orcid.org/0000-0003-3537-788X"},"institutions":[{"id":"https://openalex.org/I2802615301","display_name":"China Aerospace Science and Technology Corporation","ror":"https://ror.org/01z8tr155","country_code":"CN","type":"government","lineage":["https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renming Li","raw_affiliation_strings":["Sichuan Academy of Aerospace Technology, Sichuan Aerospace Fenghuo Servo Control Technology Corporation Ltd., Chengdu, China","Sichuan Aerospace Fenghuo Servo Control Technology Co., Ltd, Sichuan Academy of Aerospace Technology, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-3537-788X","affiliations":[{"raw_affiliation_string":"Sichuan Academy of Aerospace Technology, Sichuan Aerospace Fenghuo Servo Control Technology Corporation Ltd., Chengdu, China","institution_ids":["https://openalex.org/I2802615301"]},{"raw_affiliation_string":"Sichuan Aerospace Fenghuo Servo Control Technology Co., Ltd, Sichuan Academy of Aerospace Technology, Chengdu, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003353921","display_name":"Ruqi Ding","orcid":"https://orcid.org/0000-0002-1688-3421"},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruqi Ding","raw_affiliation_strings":["Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang, China","Ministry of Education, Key Laboratory of Conveyance and Equipment, East China Jiaotong University, Nanchang, China"],"raw_orcid":"https://orcid.org/0000-0002-1688-3421","affiliations":[{"raw_affiliation_string":"Key Laboratory of Conveyance and Equipment, Ministry of Education, East China Jiaotong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Conveyance and Equipment, East China Jiaotong University, Nanchang, China","institution_ids":["https://openalex.org/I13985625"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101419703","display_name":"Bing Xu","orcid":"https://orcid.org/0000-0003-0236-7896"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Xu","raw_affiliation_strings":["State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-0236-7896","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0363,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71479902,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9876999855041504,"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":0.9840999841690063,"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/torque","display_name":"Torque","score":0.7380102276802063},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.636628270149231},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.4757099747657776},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.4633188247680664},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4380481541156769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4316185712814331},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3870677351951599},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34058907628059387},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22842347621917725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22484198212623596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1418561339378357},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1286121904850006}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7380102276802063},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.636628270149231},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.4757099747657776},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.4633188247680664},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4380481541156769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4316185712814331},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3870677351951599},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34058907628059387},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22842347621917725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22484198212623596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1418561339378357},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1286121904850006},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","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},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3546374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3546374","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G2153076925","display_name":null,"funder_award_id":"52075055","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4958251495","display_name":null,"funder_award_id":"SKLMTZZKT-2024R02","funder_id":"https://openalex.org/F4320326995","funder_display_name":"State Key Laboratory of Mechanical Transmissions"},{"id":"https://openalex.org/G895632620","display_name":null,"funder_award_id":"52322503","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"},{"id":"https://openalex.org/F4320326995","display_name":"State Key Laboratory of Mechanical Transmissions","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1511549914","https://openalex.org/W1974309896","https://openalex.org/W2099289050","https://openalex.org/W2106168911","https://openalex.org/W2403171414","https://openalex.org/W2532073048","https://openalex.org/W2588172569","https://openalex.org/W2592028168","https://openalex.org/W2888895203","https://openalex.org/W2895157822","https://openalex.org/W2916412801","https://openalex.org/W2973352898","https://openalex.org/W2989804710","https://openalex.org/W3002605909","https://openalex.org/W3027261119","https://openalex.org/W3047744839","https://openalex.org/W3146176063","https://openalex.org/W3167711958","https://openalex.org/W3189317715","https://openalex.org/W3190570066","https://openalex.org/W3199902973","https://openalex.org/W4205940851","https://openalex.org/W4210631906","https://openalex.org/W4221044154","https://openalex.org/W4284685358","https://openalex.org/W4285197906","https://openalex.org/W4306870521","https://openalex.org/W4309765506","https://openalex.org/W4312274372","https://openalex.org/W4321442350","https://openalex.org/W4323338308","https://openalex.org/W4390813890","https://openalex.org/W4399118934"],"related_works":["https://openalex.org/W3211557223","https://openalex.org/W1528816634","https://openalex.org/W2007036916","https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W2373581562","https://openalex.org/W2354638634","https://openalex.org/W1973860365","https://openalex.org/W2358412393","https://openalex.org/W4319156915"],"abstract_inverted_index":{"The":[0,128],"existing":[1,107,117,146],"terminal":[2,84],"force":[3,85],"estimation":[4,29,35,86,134,147],"method":[5,36,112,118],"based":[6],"on":[7,28],"inverse":[8,102],"dynamic":[9,21,48,60],"parameter":[10,50],"identification":[11,26],"does":[12],"not":[13],"consider":[14],"the":[15,42,47,59,80,83,92,101,106,110,116,120,132,145],"influence":[16],"of":[17,52,82,99,105,122],"uncertainties,":[18],"such":[19],"as":[20],"modeling":[22],"error":[23,27,135],"and":[24,62,124],"dynamic/friction":[25],"accuracy.":[30],"In":[31],"this":[32],"article,":[33],"an":[34],"with":[37,115],"prior":[38,63,93],"torque":[39,64,94],"variance":[40,65,81,95],"considering":[41,91],"uncertainties":[43,68],"is":[44,56,96,113,142],"proposed.":[45],"First,":[46],"identifiable":[49],"set":[51],"hydraulic":[53],"manipulator":[54],"(HM)":[55],"established.":[57],"Second,":[58],"parameters":[61],"reflecting":[66],"those":[67],"are":[69],"obtained":[70],"by":[71,78],"recursive":[72],"least":[73],"square":[74],"(RLS)":[75],"method.":[76,108],"Then,":[77],"minimizing":[79],"error,":[87],"a":[88],"new":[89],"matrix":[90,104],"established,":[97],"instead":[98],"using":[100],"Jacobian":[103],"Finally,":[109],"proposed":[111],"compared":[114],"under":[119],"condition":[121],"constant":[123],"variable":[125],"load":[126],"tests.":[127],"results":[129],"show":[130],"that":[131],"average":[133],"can":[136],"be":[137],"controlled":[138],"within":[139],"1%,":[140],"which":[141],"better":[143],"than":[144],"methods.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}