{"id":"https://openalex.org/W2549898807","doi":"https://doi.org/10.1109/iccsce.2014.7072691","title":"PID position control of 7-DOF three-fingered robotic hand for grasping task","display_name":"PID position control of 7-DOF three-fingered robotic hand for grasping task","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2549898807","doi":"https://doi.org/10.1109/iccsce.2014.7072691","mag":"2549898807"},"language":"en","primary_location":{"id":"doi:10.1109/iccsce.2014.7072691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccsce.2014.7072691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014)","raw_type":"proceedings-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/A5014960691","display_name":"Ruhizan Liza Ahmad Shauri","orcid":"https://orcid.org/0000-0003-4146-6918"},"institutions":[{"id":"https://openalex.org/I82724352","display_name":"Universiti Teknologi MARA","ror":"https://ror.org/05n8tts92","country_code":"MY","type":"education","lineage":["https://openalex.org/I82724352"]}],"countries":["MY"],"is_corresponding":true,"raw_author_name":"R.L.A. Shauri","raw_affiliation_strings":["Faculty of Electrical Engineering, Universiti Teknologi MARA Malaysia, Selangor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Universiti Teknologi MARA Malaysia, Selangor, Malaysia","institution_ids":["https://openalex.org/I82724352"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112229429","display_name":"Norhana Mat Salleh","orcid":null},"institutions":[{"id":"https://openalex.org/I82724352","display_name":"Universiti Teknologi MARA","ror":"https://ror.org/05n8tts92","country_code":"MY","type":"education","lineage":["https://openalex.org/I82724352"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"N.M. Salleh","raw_affiliation_strings":["Faculty of Electrical Engineering, Universiti Teknologi MARA Malaysia, Selangor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Universiti Teknologi MARA Malaysia, Selangor, Malaysia","institution_ids":["https://openalex.org/I82724352"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058658393","display_name":"A.K.A. Hadi","orcid":null},"institutions":[{"id":"https://openalex.org/I82724352","display_name":"Universiti Teknologi MARA","ror":"https://ror.org/05n8tts92","country_code":"MY","type":"education","lineage":["https://openalex.org/I82724352"]}],"countries":["MY"],"is_corresponding":false,"raw_author_name":"A.K.A. Hadi","raw_affiliation_strings":["Faculty of Electrical Engineering, Universiti Teknologi MARA Malaysia, Selangor, Malaysia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Universiti Teknologi MARA Malaysia, Selangor, Malaysia","institution_ids":["https://openalex.org/I82724352"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014960691"],"corresponding_institution_ids":["https://openalex.org/I82724352"],"apc_list":null,"apc_paid":null,"fwci":0.8115,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.80534975,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"70","last_page":"74"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980000257492065,"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":0.9980000257492065,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9959999918937683,"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/pid-controller","display_name":"PID controller","score":0.8033374547958374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5386794209480286},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.516126275062561},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5068181157112122},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4935876131057739},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4878254234790802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45858901739120483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44601160287857056},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3251226544380188},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32460328936576843},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24188563227653503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22140786051750183},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09617209434509277}],"concepts":[{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8033374547958374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5386794209480286},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.516126275062561},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5068181157112122},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4935876131057739},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4878254234790802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45858901739120483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44601160287857056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3251226544380188},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32460328936576843},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24188563227653503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22140786051750183},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09617209434509277},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccsce.2014.7072691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccsce.2014.7072691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W204234732","https://openalex.org/W1545525975","https://openalex.org/W1964154535","https://openalex.org/W2009345421","https://openalex.org/W2051544982","https://openalex.org/W2113433055","https://openalex.org/W2117744808","https://openalex.org/W2140246545","https://openalex.org/W2970528191","https://openalex.org/W3126441473","https://openalex.org/W3148667678","https://openalex.org/W6608377054","https://openalex.org/W6680719981"],"related_works":["https://openalex.org/W4293868274","https://openalex.org/W4386412075","https://openalex.org/W2698567378","https://openalex.org/W4389515241","https://openalex.org/W2810278913","https://openalex.org/W2110981444","https://openalex.org/W2547959363","https://openalex.org/W2588803791","https://openalex.org/W1990552079","https://openalex.org/W2903025760"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,16,35,85,96,103,108,111,124,134,167,174,180,213,219,223],"tuning":[4,70,95],"of":[5,13,26,34,39,64,84,98,107,117,140,148],"PID":[6,69,99,176],"control":[7,12,100],"parameters":[8,177],"for":[9,20,94,127,133,143],"position":[10,17,112,118,225],"feedback":[11],"motor":[14],"and":[15,43,60,89,203],"reference":[18,113,226],"design":[19],"grasping":[21,125,144,220],"task":[22,221],"by":[23,178],"a":[24,44,115],"7-degree":[25],"freedom":[27],"(DOF)":[28],"three-fingered":[29],"robotic":[30,36,49,135],"hand.":[31],"The":[32,48,68,131],"system":[33],"hand":[37,50,136,169,215],"consists":[38],"DC-motors,":[40],"magnetic":[41],"encoder":[42],"motion":[45],"controller":[46],"unit.":[47],"has":[51,57,163,170,216],"three":[52,86],"fingers":[53],"where":[54],"each":[55],"finger":[56,129,141],"two":[58,61,138,145],"joints":[59,83],"links":[62],"made":[63],"perspective":[65],"plastic":[66],"material.":[67],"is":[71,92,120],"implemented":[72,155],"to":[73,80,101,122],"all":[74,82,128],"six":[75],"motors":[76],"that":[77,166],"are":[78],"used":[79,93],"move":[81],"fingers.":[87],"Trial":[88],"error":[90,206],"method":[91],"parameter":[97],"improve":[102],"transient":[104],"response":[105],"performance":[106],"motors.":[109],"For":[110],"design,":[114],"set":[116],"data":[119],"identified":[121],"produce":[123],"trajectory":[126,132],"joints.":[130],"performs":[137],"types":[139],"configuration":[142],"different":[146],"shapes":[147],"household":[149],"solid":[150],"objects.":[151],"Both":[152],"works":[153],"were":[154],"via":[156],"programming":[157],"in":[158],"Motion":[159],"Manager":[160],"Application.":[161],"It":[162],"been":[164],"observed":[165],"robot":[168,214],"performed":[171],"well":[172],"with":[173,222],"tuned":[175],"reducing":[179],"overshoot,":[181],"rise":[182],"time":[183,190,197],"(T":[184,191,198],"<sub":[185,192,199,208],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[186,193,200,209],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">r</sub>":[187],"),":[188,195],"peak":[189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">p</sub>":[194],"settling":[196],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">s</sub>":[201],")":[202],"steady":[204],"state":[205],"(e":[207],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">ss</sub>":[210],").":[211],"Besides,":[212],"also":[217],"succeeded":[218],"proposed":[224],"trajectory.":[227]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}