{"id":"https://openalex.org/W2092215570","doi":"https://doi.org/10.1163/156855393x00041","title":"Motion control of robot manipulators by a joint acceleration controller","display_name":"Motion control of robot manipulators by a joint acceleration controller","publication_year":1992,"publication_date":"1992-01-01","ids":{"openalex":"https://openalex.org/W2092215570","doi":"https://doi.org/10.1163/156855393x00041","mag":"2092215570"},"language":"en","primary_location":{"id":"doi:10.1163/156855393x00041","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00041","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5113603804","display_name":"Satoshi Komada","orcid":null},"institutions":[{"id":"https://openalex.org/I178574317","display_name":"Mie University","ror":"https://ror.org/01529vy56","country_code":"JP","type":"education","lineage":["https://openalex.org/I178574317"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Satoshi Komada","raw_affiliation_strings":["a    Electrical and Electronics Engineering, Mie University, 1515 Kamihama-cho, Tsu, Mie, 514 Japan","a Electrical and Electronics Engineering, Mie University, 1515 Kamihama-cho, Tsu, Mie, 514 Japan"],"affiliations":[{"raw_affiliation_string":"a    Electrical and Electronics Engineering, Mie University, 1515 Kamihama-cho, Tsu, Mie, 514 Japan","institution_ids":["https://openalex.org/I178574317"]},{"raw_affiliation_string":"a Electrical and Electronics Engineering, Mie University, 1515 Kamihama-cho, Tsu, Mie, 514 Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041501484","display_name":"Kouhei Ohnishi","orcid":"https://orcid.org/0000-0002-0785-3992"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouhei Ohnishi","raw_affiliation_strings":["b    Electrical Engineering, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa, 223 Japan","b Electrical Engineering, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa, 223 Japan"],"affiliations":[{"raw_affiliation_string":"b    Electrical Engineering, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa, 223 Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"b Electrical Engineering, Keio University, 3-14-1 Hiyoshi, Kouhoku-ku, Yokohama, Kanagawa, 223 Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113603804"],"corresponding_institution_ids":["https://openalex.org/I178574317"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.24392295,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":"1","first_page":"41","last_page":"56"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6480298638343811},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6401491165161133},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5896148085594177},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5433869957923889},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5284172296524048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5146766304969788},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5118993520736694},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5061971545219421},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.471985399723053},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.46303921937942505},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4329259693622589},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42872852087020874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3547218441963196},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34841084480285645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3254774212837219},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2130858600139618},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12608447670936584}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6480298638343811},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6401491165161133},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5896148085594177},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5433869957923889},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5284172296524048},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5146766304969788},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5118993520736694},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5061971545219421},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.471985399723053},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46303921937942505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4329259693622589},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42872852087020874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3547218441963196},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34841084480285645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3254774212837219},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2130858600139618},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12608447670936584},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855393x00041","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00041","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1983716668","https://openalex.org/W2002519566","https://openalex.org/W2016958754","https://openalex.org/W2132294818","https://openalex.org/W2156136425","https://openalex.org/W2330281918"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W1862849712","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W2888165911","https://openalex.org/W2917916498","https://openalex.org/W2151713592","https://openalex.org/W1531114845"],"abstract_inverted_index":{"Abstract":[0],"A":[1,64,158],"simple":[2,152],"and":[3,69,125,153],"high":[4,65,159],"performance":[5,66,99,160],"motion":[6],"control":[7],"method":[8,50,60],"for":[9,26],"robot":[10,38],"manipulators":[11,39],"in":[12,61],"task-oriented":[13,62],"coordinates":[14],"is":[15,21,52,56,86,93,110,126,151,163,174],"proposed.":[16],"In":[17],"this":[18],"method,":[19],"it":[20,85],"necessary":[22],"that":[23,88],"a":[24,30,57,89,105,134,181],"controller":[25,58,68,72,92,162],"each":[27],"joint":[28],"generates":[29],"specified":[31],"acceleration.":[32],"To":[33],"extend":[34],"the":[35,46,77,80,83,94,98,101,139,149,166,172],"result":[36],"to":[37,96,128,146],"with":[40,180],"multiple":[41],"degrees":[42],"of":[43,82,100,104,141,171],"freedom":[44],"(DOF),":[45],"acceleration":[47,91,107,143,161],"tracing":[48],"orientation":[49],"(ATOM)":[51],"used.":[53],"The":[54,169],"ATOM":[55,173],"design":[59],"space.":[63],"position":[67],"hybrid":[70],"position/force":[71],"are":[73],"easily":[74],"realized":[75,164],"by":[76,165,176],"ATOM.":[78,102],"From":[79],"analyses":[81],"controllers,":[84],"known":[87],"precise":[90],"key":[95],"improving":[97],"Realization":[103],"strict":[106],"controller,":[108],"however,":[109],"almost":[111],"impossible":[112],"using":[113],"conventional":[114],"disturbance":[115,135,167],"compensation":[116],"methods.":[117],"For":[118],"example,":[119],"inverse":[120,147],"dynamics":[121],"involves":[122],"complicated":[123],"calculations":[124],"susceptible":[127],"parameter":[129,156],"variations.":[130,157],"Recent":[131],"research":[132],"on":[133],"observer":[136,150],"has":[137],"enabled":[138],"realization":[140],"an":[142],"controller.":[144],"Contrary":[145],"dynamics,":[148],"robust":[154],"against":[155],"observer.":[168],"effectiveness":[170],"shown":[175],"some":[177],"experiments":[178],"performed":[179],"3-DOF":[182],"robot.":[183]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
