{"id":"https://openalex.org/W2769559343","doi":"https://doi.org/10.1145/3132446.3134897","title":"Force/Position Control of 3 DOF Delta Manipulator with Voice Coil Actuator","display_name":"Force/Position Control of 3 DOF Delta Manipulator with Voice Coil Actuator","publication_year":2017,"publication_date":"2017-06-28","ids":{"openalex":"https://openalex.org/W2769559343","doi":"https://doi.org/10.1145/3132446.3134897","mag":"2769559343"},"language":"en","primary_location":{"id":"doi:10.1145/3132446.3134897","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","raw_type":"proceedings-article"},"type":"conference-paper","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/A5022246915","display_name":"Arun Dayal Udai","orcid":"https://orcid.org/0000-0001-9629-1110"},"institutions":[{"id":"https://openalex.org/I115715567","display_name":"Birla Institute of Technology, Mesra","ror":"https://ror.org/028vtqb15","country_code":"IN","type":"education","lineage":["https://openalex.org/I115715567"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arun Dayal Udai","raw_affiliation_strings":["Birla Institute of Technology Mesra, Ranchi, Jharkhand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Birla Institute of Technology Mesra, Ranchi, Jharkhand","institution_ids":["https://openalex.org/I115715567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029448765","display_name":"Durgesh Haribhau Salunkhe","orcid":"https://orcid.org/0000-0002-9331-2390"},"institutions":[{"id":"https://openalex.org/I115715567","display_name":"Birla Institute of Technology, Mesra","ror":"https://ror.org/028vtqb15","country_code":"IN","type":"education","lineage":["https://openalex.org/I115715567"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Durgesh Haribhau Salunkhe","raw_affiliation_strings":["Birla Institute of Technology Mesra, Ranchi, Jharkhand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Birla Institute of Technology Mesra, Ranchi, Jharkhand","institution_ids":["https://openalex.org/I115715567"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073432337","display_name":"Anirvan Dutta","orcid":"https://orcid.org/0000-0001-5857-4769"},"institutions":[{"id":"https://openalex.org/I115715567","display_name":"Birla Institute of Technology, Mesra","ror":"https://ror.org/028vtqb15","country_code":"IN","type":"education","lineage":["https://openalex.org/I115715567"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Anirvan Dutta","raw_affiliation_strings":["Birla Institute of Technology Mesra, Ranchi, Jharkhand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Birla Institute of Technology Mesra, Ranchi, Jharkhand","institution_ids":["https://openalex.org/I115715567"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048361564","display_name":"Sudipto Mukherjee","orcid":"https://orcid.org/0000-0002-7175-1237"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sudipto Mukherjee","raw_affiliation_strings":["Indian Institute of Technology Delhi New Delhi"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Delhi New Delhi","institution_ids":["https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8829,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68343501,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/voice-coil","display_name":"Voice coil","score":0.8129350543022156},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.7855606079101562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7055104374885559},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6818380355834961},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.643488347530365},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6315690279006958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5940465331077576},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5875336527824402},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5210177898406982},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5009713172912598},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4963386654853821},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46475329995155334},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45878368616104126},{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.4311390519142151},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42510685324668884},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.42405790090560913},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2982524037361145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25589677691459656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2131662666797638},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16933032870292664},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1288793385028839}],"concepts":[{"id":"https://openalex.org/C131513009","wikidata":"https://www.wikidata.org/wiki/Q1369121","display_name":"Voice coil","level":3,"score":0.8129350543022156},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7855606079101562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7055104374885559},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6818380355834961},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.643488347530365},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6315690279006958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5940465331077576},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5875336527824402},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5210177898406982},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5009713172912598},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4963386654853821},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46475329995155334},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45878368616104126},{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.4311390519142151},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42510685324668884},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.42405790090560913},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2982524037361145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25589677691459656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2131662666797638},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16933032870292664},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1288793385028839},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3132446.3134897","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3132446.3134897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Advances in Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1019208835","https://openalex.org/W1575336075","https://openalex.org/W2001844647","https://openalex.org/W2002739521","https://openalex.org/W2032079840","https://openalex.org/W2037123241","https://openalex.org/W2040180768","https://openalex.org/W2077129956","https://openalex.org/W2077311992","https://openalex.org/W2098893178","https://openalex.org/W2145155602","https://openalex.org/W2153408177","https://openalex.org/W3170994865"],"related_works":["https://openalex.org/W1527306875","https://openalex.org/W2245353192","https://openalex.org/W2521347145","https://openalex.org/W2685925846","https://openalex.org/W2998185885","https://openalex.org/W2412971645","https://openalex.org/W2160011236","https://openalex.org/W76816740","https://openalex.org/W3137303152","https://openalex.org/W2483758673"],"abstract_inverted_index":{"Parallel":[0],"manipulators":[1,23],"are":[2],"widely":[3],"used":[4,106],"in":[5,15,72,79,107,131,142,151],"the":[6,44,73,80,95,98,101,109,143],"industries":[7],"for":[8,63],"several":[9],"applications.":[10],"Due":[11],"to":[12,59,122],"its":[13,20,26,149],"precision":[14],"motion":[16],"as":[17,19,92,94],"well":[18,93],"robustness,":[21],"parallel":[22,36],"have":[24],"proved":[25],"advantage":[27],"over":[28],"serial":[29],"manipulators.":[30],"In":[31],"this":[32],"paper,":[33],"a":[34,52,86,132],"3DOF":[35],"manipulator":[37,45,50,76,110],"is":[38,46,77,120,126,137],"presented":[39],"and":[40,119,128],"force":[41,96,117],"control":[42],"of":[43,89,100],"demonstrated.":[47],"The":[48,82,104,124,145],"proposed":[49,74,146],"uses":[51],"direct":[53],"drive":[54],"voice":[55],"coil":[56],"arc":[57],"actuators":[58],"achieve":[60],"compliance":[61],"required":[62],"human-robot":[64],"interaction":[65],"or":[66],"soft":[67],"mechanical":[68],"manipulations.":[69],"Its":[70],"implementation":[71],"delta":[75,102],"discussed":[78,85,141],"paper.":[81,144],"paper":[83],"has":[84],"unique":[87],"method":[88,105,125],"controlling":[90],"position":[91],"at":[97],"end-effector":[99],"manipulator.":[103],"making":[108],"compliant":[111],"does":[112],"not":[113],"need":[114],"an":[115],"explicit":[116],"sensor":[118],"convenient":[121],"implement.":[123],"inexpensive":[127],"works":[129],"satisfactorily":[130],"human":[133],"interactive":[134],"environment":[135],"which":[136],"demonstrated":[138],"through":[139],"experiments":[140],"design":[147],"finds":[148],"application":[150],"robot-assisted":[152],"assembly,":[153],"surface":[154],"finishing,":[155],"cooperative":[156],"manipulation,":[157],"haptics":[158],"etc.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}