{"id":"https://openalex.org/W2062205503","doi":"https://doi.org/10.1109/tro.2014.2298057","title":"Dynamic Modeling and Control of Parallel Robots With Elastic Cables: Singular Perturbation Approach","display_name":"Dynamic Modeling and Control of Parallel Robots With Elastic Cables: Singular Perturbation Approach","publication_year":2014,"publication_date":"2014-01-31","ids":{"openalex":"https://openalex.org/W2062205503","doi":"https://doi.org/10.1109/tro.2014.2298057","mag":"2062205503"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2014.2298057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2298057","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5058561416","display_name":"Mohammad A. Khosravi","orcid":"https://orcid.org/0000-0003-3619-4911"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad A. Khosravi","raw_affiliation_strings":["Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran#TAB#","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070019550","display_name":"Hamid D. Taghirad","orcid":"https://orcid.org/0000-0002-0615-6730"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Hamid D. Taghirad","raw_affiliation_strings":["Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Advanced Robotics and Automated Systems, Industrial Control Center of Excellence, Faculty of Electrical and Computer Engineering, K.N. Toosi University of Technology, Tehran, Iran#TAB#","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":11.4918,"has_fulltext":false,"cited_by_count":172,"citation_normalized_percentile":{"value":0.98507503,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"30","issue":"3","first_page":"694","last_page":"704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.8576173782348633},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7247611284255981},{"id":"https://openalex.org/keywords/tikhonov-regularization","display_name":"Tikhonov regularization","score":0.6638730764389038},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6103797554969788},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.5577380061149597},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5066245198249817},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5021340847015381},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.48068031668663025},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.46945852041244507},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4485793709754944},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4477955996990204},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.385122150182724},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3690168261528015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.368837833404541},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.18440935015678406},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17732039093971252},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1450008749961853},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.1258469820022583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08368441462516785}],"concepts":[{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.8576173782348633},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7247611284255981},{"id":"https://openalex.org/C152442038","wikidata":"https://www.wikidata.org/wiki/Q2778212","display_name":"Tikhonov regularization","level":3,"score":0.6638730764389038},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6103797554969788},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.5577380061149597},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5066245198249817},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5021340847015381},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.48068031668663025},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.46945852041244507},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4485793709754944},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4477955996990204},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.385122150182724},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3690168261528015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.368837833404541},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.18440935015678406},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17732039093971252},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1450008749961853},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.1258469820022583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08368441462516785},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2014.2298057","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2298057","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4459504742","display_name":null,"funder_award_id":"87040331","funder_id":"https://openalex.org/F4320322243","funder_display_name":"Iran National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320322243","display_name":"Iran National Science Foundation","ror":"https://ror.org/03sr1ma14"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W12761051","https://openalex.org/W68179987","https://openalex.org/W88160375","https://openalex.org/W161276847","https://openalex.org/W1515224583","https://openalex.org/W1965391287","https://openalex.org/W1992627793","https://openalex.org/W2014694653","https://openalex.org/W2018778174","https://openalex.org/W2027986824","https://openalex.org/W2048140687","https://openalex.org/W2054120788","https://openalex.org/W2063958563","https://openalex.org/W2066309255","https://openalex.org/W2079011950","https://openalex.org/W2095631872","https://openalex.org/W2119775627","https://openalex.org/W2120109619","https://openalex.org/W2121331372","https://openalex.org/W2134252356","https://openalex.org/W2138950221","https://openalex.org/W2140101877","https://openalex.org/W2158050076","https://openalex.org/W2163063471","https://openalex.org/W2186618162","https://openalex.org/W2468988297","https://openalex.org/W4230249585","https://openalex.org/W4298290699","https://openalex.org/W6603558140","https://openalex.org/W6677538917","https://openalex.org/W6979965593"],"related_works":["https://openalex.org/W3131586246","https://openalex.org/W4232854940","https://openalex.org/W2028208404","https://openalex.org/W2004501529","https://openalex.org/W4298516010","https://openalex.org/W2793340545","https://openalex.org/W1974122505","https://openalex.org/W2967187965","https://openalex.org/W1983203485","https://openalex.org/W1988920101"],"abstract_inverted_index":{"In":[0,16],"this":[1],"paper,":[2],"control":[3,126],"of":[4,22,34,42,50,66,79,100,108,114,123],"fully-constrained":[5],"parallel":[6],"cable":[7],"robots":[8],"with":[9],"elastic":[10],"cables":[11,23],"is":[12,24,57,73,118,128],"studied":[13],"in":[14],"detail.":[15],"the":[17,31,39,61,67,80,97,101,112,115,121,124],"modeling":[18],"process,":[19],"longitudinal":[20],"vibration":[21],"considered":[25],"as":[26],"their":[27],"dominant":[28],"dynamics,":[29],"and":[30,69,89,94,105],"governing":[32],"equations":[33],"motion":[35],"are":[36,92],"rewritten":[37],"to":[38,75],"standard":[40],"form":[41],"singular":[43],"perturbation.":[44],"The":[45],"proposed":[46,125],"composite":[47],"controller":[48,56],"consists":[49],"two":[51],"main":[52],"components.":[53],"A":[54],"rigid":[55,64],"designed":[58],"based":[59],"on":[60],"slow":[62,88],"or":[63],"model":[65],"system":[68,117],"a":[70,106],"corrective":[71],"term":[72],"added":[74],"guarantee":[76],"asymptotic":[77],"stability":[78,98,113],"fast":[81,90],"dynamics.":[82],"Then,":[83],"by":[84],"using":[85],"Tikhonov":[86],"theorem,":[87],"variables":[91],"separated":[93],"incorporated":[95],"into":[96],"analysis":[99],"overall":[102],"closed-loop":[103],"system,":[104],"set":[107],"sufficient":[109],"conditions":[110],"for":[111],"total":[116],"derived.":[119],"Finally,":[120],"effectiveness":[122],"law":[127],"verified":[129],"through":[130],"simulations.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":26},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}