{"id":"https://openalex.org/W1978849564","doi":"https://doi.org/10.1109/tro.2012.2217795","title":"Stability Analysis of Underconstrained Cable-Driven Parallel Robots","display_name":"Stability Analysis of Underconstrained Cable-Driven Parallel Robots","publication_year":2012,"publication_date":"2012-09-30","ids":{"openalex":"https://openalex.org/W1978849564","doi":"https://doi.org/10.1109/tro.2012.2217795","mag":"1978849564"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2217795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2217795","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5074104066","display_name":"Marco Carricato","orcid":"https://orcid.org/0000-0002-1528-4304"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Carricato","raw_affiliation_strings":["Department of Mechanical Engineering (DIEM) and the Center for Health Sciences and Technologies (HST-ICIR), University of Bologna, Bologna, Italy","Dept. of Mech. Eng. (DIEM), Univ. of Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering (DIEM) and the Center for Health Sciences and Technologies (HST-ICIR), University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Dept. of Mech. Eng. (DIEM), Univ. of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006390574","display_name":"Jean\u2010Pierre Merlet","orcid":"https://orcid.org/0000-0002-0401-5424"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Pierre Merlet","raw_affiliation_strings":["COPRIN Research Team, INRIA Sophia Antipolis, Sophia Antipolis, France","[COPRIN Research Team, INRIA, Sophia-Antipolis, France]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"COPRIN Research Team, INRIA Sophia Antipolis, Sophia Antipolis, France","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"[COPRIN Research Team, INRIA, Sophia-Antipolis, France]","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":25.8251,"has_fulltext":false,"cited_by_count":164,"citation_normalized_percentile":{"value":0.99534181,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"29","issue":"1","first_page":"288","last_page":"296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9836000204086304,"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/robot","display_name":"Robot","score":0.7479179501533508},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6687604784965515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.598108172416687},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5502960681915283},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.41074612736701965},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3340685963630676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25153422355651855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1907048523426056},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07579776644706726}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7479179501533508},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6687604784965515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.598108172416687},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5502960681915283},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.41074612736701965},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3340685963630676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25153422355651855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1907048523426056},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07579776644706726},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2012.2217795","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2217795","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01425222v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01425222","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Robotics, 2013, 29 (1), pp.288-296","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:cris.unibo.it:11585/127306","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/127306","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W187531886","https://openalex.org/W192781494","https://openalex.org/W1597009130","https://openalex.org/W1965391287","https://openalex.org/W1971118703","https://openalex.org/W1978966365","https://openalex.org/W1992225021","https://openalex.org/W1995843494","https://openalex.org/W2000616516","https://openalex.org/W2003360230","https://openalex.org/W2005660629","https://openalex.org/W2008508241","https://openalex.org/W2016522069","https://openalex.org/W2016763525","https://openalex.org/W2027811606","https://openalex.org/W2034704857","https://openalex.org/W2035087331","https://openalex.org/W2035239704","https://openalex.org/W2040587238","https://openalex.org/W2052171761","https://openalex.org/W2054120788","https://openalex.org/W2066309255","https://openalex.org/W2092884561","https://openalex.org/W2111398566","https://openalex.org/W2111406128","https://openalex.org/W2111455515","https://openalex.org/W2120557068","https://openalex.org/W2130365286","https://openalex.org/W2137079522","https://openalex.org/W2138950221","https://openalex.org/W2149655381","https://openalex.org/W2152508761","https://openalex.org/W2158050076","https://openalex.org/W2159298254","https://openalex.org/W2167587950","https://openalex.org/W2252406075","https://openalex.org/W2266946488","https://openalex.org/W2316950857","https://openalex.org/W2319466955","https://openalex.org/W2339991536","https://openalex.org/W4234669933","https://openalex.org/W4245348141","https://openalex.org/W4285719527","https://openalex.org/W4291236916"],"related_works":["https://openalex.org/W2038930466","https://openalex.org/W1997122515","https://openalex.org/W2086574474","https://openalex.org/W2160167134","https://openalex.org/W2382890276","https://openalex.org/W2072869912","https://openalex.org/W2047420849","https://openalex.org/W2616755924","https://openalex.org/W1989719439","https://openalex.org/W2323662908"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"cable-driven":[3],"parallel":[4],"robots":[5,59],"with":[6,60],"less":[7],"than":[8],"six":[9],"cables,":[10],"in":[11],"crane":[12],"configuration.":[13],"A":[14],"geometrico-static":[15],"model":[16],"is":[17,25],"provided,":[18,57],"and":[19,42],"the":[20,28,50],"stability":[21],"of":[22,30,63],"static":[23],"equilibrium":[24],"assessed":[26],"within":[27],"framework":[29],"a":[31,61],"constrained":[32],"optimization":[33],"problem.":[34],"The":[35],"method":[36],"relies":[37],"on":[38],"ordinary":[39],"linear-algebra":[40],"routines,":[41],"it":[43],"may":[44],"be":[45],"very":[46],"simply":[47],"applied":[48],"to":[49,69],"most":[51],"general":[52],"architectures.":[53],"Several":[54],"examples":[55],"are":[56],"concerning":[58],"number":[62],"cables":[64],"that":[65],"range":[66],"from":[67],"2":[68],"4.":[70]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}