{"id":"https://openalex.org/W2068341578","doi":"https://doi.org/10.1145/2506095.2506138","title":"Friction Compensation for Sensor-Less Force Reflection in Servo Manipulators for High Radiation Areas","display_name":"Friction Compensation for Sensor-Less Force Reflection in Servo Manipulators for High Radiation Areas","publication_year":2013,"publication_date":"2013-07-04","ids":{"openalex":"https://openalex.org/W2068341578","doi":"https://doi.org/10.1145/2506095.2506138","mag":"2068341578"},"language":"en","primary_location":{"id":"doi:10.1145/2506095.2506138","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506138","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","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/A5020129619","display_name":"Surendra Singh Saini","orcid":"https://orcid.org/0000-0002-7040-2879"},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Surendra Singh Saini","raw_affiliation_strings":["Division of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai, India"],"affiliations":[{"raw_affiliation_string":"Division of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai, India","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051802704","display_name":"Ushnish Sarkar","orcid":"https://orcid.org/0000-0002-2489-9538"},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ushnish Sarkar","raw_affiliation_strings":["Division of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai, India"],"affiliations":[{"raw_affiliation_string":"Division of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai, India","institution_ids":["https://openalex.org/I1329621470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017656814","display_name":"Debashish Datta Ray","orcid":null},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Debashish Datta Ray","raw_affiliation_strings":["Division of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai, India"],"affiliations":[{"raw_affiliation_string":"Division of Remote Handling and Robotics, Bhabha Atomic Research Centre Mumbai, India","institution_ids":["https://openalex.org/I1329621470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020129619"],"corresponding_institution_ids":["https://openalex.org/I1329621470"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16957526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"46","issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9940000176429749,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9940000176429749,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9797000288963318,"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/T13885","display_name":"Geophysics and Sensor Technology","score":0.9035999774932861,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/compensation","display_name":"Compensation (psychology)","score":0.6886231899261475},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.684084951877594},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6225444674491882},{"id":"https://openalex.org/keywords/reflection","display_name":"Reflection (computer programming)","score":0.5908158421516418},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5731273889541626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5634166598320007},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.5596030950546265},{"id":"https://openalex.org/keywords/master/slave","display_name":"Master/slave","score":0.5100885033607483},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.4473975896835327},{"id":"https://openalex.org/keywords/friction-torque","display_name":"Friction torque","score":0.4468975365161896},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43286412954330444},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3642025589942932},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3192911148071289},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2666667401790619},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1723109483718872},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10927587747573853}],"concepts":[{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6886231899261475},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.684084951877594},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6225444674491882},{"id":"https://openalex.org/C65682993","wikidata":"https://www.wikidata.org/wiki/Q1056451","display_name":"Reflection (computer programming)","level":2,"score":0.5908158421516418},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5731273889541626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5634166598320007},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.5596030950546265},{"id":"https://openalex.org/C20454292","wikidata":"https://www.wikidata.org/wiki/Q735523","display_name":"Master/slave","level":2,"score":0.5100885033607483},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.4473975896835327},{"id":"https://openalex.org/C163274877","wikidata":"https://www.wikidata.org/wiki/Q5503435","display_name":"Friction torque","level":3,"score":0.4468975365161896},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43286412954330444},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3642025589942932},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3192911148071289},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2666667401790619},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1723109483718872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10927587747573853},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2506095.2506138","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506138","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1602498161","https://openalex.org/W1975225952","https://openalex.org/W2020899223","https://openalex.org/W2062691475","https://openalex.org/W2073898625","https://openalex.org/W2091881639","https://openalex.org/W2102279668","https://openalex.org/W2102911553","https://openalex.org/W2119063730","https://openalex.org/W2148855336","https://openalex.org/W2149327659","https://openalex.org/W2160657520","https://openalex.org/W2166271005","https://openalex.org/W3139610437"],"related_works":["https://openalex.org/W2133614587","https://openalex.org/W2088603790","https://openalex.org/W2020441249","https://openalex.org/W2051011957","https://openalex.org/W2546583032","https://openalex.org/W597209009","https://openalex.org/W2385654506","https://openalex.org/W2546740270","https://openalex.org/W2096883364","https://openalex.org/W2519736857"],"abstract_inverted_index":{"Master":[0],"Slave":[1],"Servo":[2],"Manipulators":[3],"are":[4],"used":[5,72],"to":[6,57,62,81,115],"handle":[7],"highly":[8],"radioactive":[9,24],"and":[10,18,54,108,122,143,157,175],"hazardous":[11],"substances.":[12],"These":[13],"operations":[14],"require":[15],"a":[16,38,87,111,128,152],"delicate":[17],"dexterous":[19,39,131],"control":[20,132,176],"e.g.":[21],"in":[22,27,110,139],"handling":[23],"isotopes":[25],"irradiated":[26],"tray":[28],"rod":[29],"facilities":[30],"of":[31,45,77,106,163,177],"high":[32,64],"flux":[33],"research":[34],"reactors.":[35],"To":[36],"achieve":[37],"man-in-the-loop":[40],"control,":[41],"the":[42,49,58,74,78,99,104,116,158,161,164],"interaction":[43,84],"forces":[44],"slave":[46,79,155],"arm":[47,118],"with":[48,141],"environment":[50],"must":[51],"be":[52,71],"sensed":[53],"reflected":[55],"back":[56],"master":[59,117,154],"arm.":[60],"Due":[61],"very":[63],"radiation":[65],"levels,":[66],"normal":[67],"Force-Torque":[68],"sensors":[69],"cannot":[70],"at":[73],"end":[75],"effector":[76],"manipulator":[80],"sense":[82],"these":[83],"forces.":[85],"Hence":[86],"sensor":[88],"less":[89],"force":[90,96,113,137],"reflection":[91,97,114],"scheme":[92,129,147],"is":[93,184],"required.":[94],"Sensor-less":[95],"utilizing":[98],"joint":[100,178],"motor":[101,179],"current":[102,180],"enhances":[103],"effect":[105],"friction":[107,134,142],"results":[109],"non-linear":[112],"causing":[119],"more":[120],"fatigue":[121],"poor":[123],"dexterity.":[124],"This":[125],"paper":[126],"discusses":[127],"for":[130,172],"using":[133],"compensated":[135],"sensor-less":[136],"feedback":[138],"systems":[140],"backlash.":[144],"The":[145],"proposed":[146],"has":[148],"been":[149,167],"implemented":[150],"on":[151],"1-dof":[153],"setup":[156],"results,":[159],"showing":[160],"efficacy":[162],"scheme,":[165],"have":[166],"presented.":[168,186],"A":[169],"novel":[170],"method":[171],"sensorless":[173],"estimation":[174],"(and":[181],"hence":[182],"torque)":[183],"also":[185]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
