{"id":"https://openalex.org/W2046508043","doi":"https://doi.org/10.1163/156855399x01846","title":"Motion control of dual-arm long-reach manipulators","display_name":"Motion control of dual-arm long-reach manipulators","publication_year":1998,"publication_date":"1998-01-01","ids":{"openalex":"https://openalex.org/W2046508043","doi":"https://doi.org/10.1163/156855399x01846","mag":"2046508043"},"language":"en","primary_location":{"id":"doi:10.1163/156855399x01846","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855399x01846","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/A5017387348","display_name":"Akio Gouo","orcid":null},"institutions":[{"id":"https://openalex.org/I2252096349","display_name":"Fujitsu (Japan)","ror":"https://ror.org/038e2g226","country_code":"JP","type":"company","lineage":["https://openalex.org/I2252096349"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akio Gouo","raw_affiliation_strings":["a    HDI Engineering Department, Advanced File Technology Division, Fujitsu Ltd, 4-1-1 Kamikodanaka Nakahara-ku, Kawasaki 211-8588, Japan","a HDI Engineering Department, Advanced File Technology Division, Fujitsu Ltd, 4-1-1 Kamikodanaka Nakahara-ku, Kawasaki 211-8588, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    HDI Engineering Department, Advanced File Technology Division, Fujitsu Ltd, 4-1-1 Kamikodanaka Nakahara-ku, Kawasaki 211-8588, Japan","institution_ids":["https://openalex.org/I2252096349"]},{"raw_affiliation_string":"a HDI Engineering Department, Advanced File Technology Division, Fujitsu Ltd, 4-1-1 Kamikodanaka Nakahara-ku, Kawasaki 211-8588, Japan","institution_ids":["https://openalex.org/I2252096349"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108521987","display_name":"Dragomir N. Nenchev","orcid":null},"institutions":[{"id":"https://openalex.org/I146516829","display_name":"Hirosaki University","ror":"https://ror.org/02syg0q74","country_code":"JP","type":"education","lineage":["https://openalex.org/I146516829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dragomir N. Nenchev","raw_affiliation_strings":["b    Department of Intelligent Machines and System Engineering, Hirosaki University, 3 Bunkyo-cho, Hirosaki 036-8561, Japan","b Department of Intelligent Machines and System Engineering, Hirosaki University, 3 Bunkyo-cho, Hirosaki 036-8561, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    Department of Intelligent Machines and System Engineering, Hirosaki University, 3 Bunkyo-cho, Hirosaki 036-8561, Japan","institution_ids":["https://openalex.org/I146516829"]},{"raw_affiliation_string":"b Department of Intelligent Machines and System Engineering, Hirosaki University, 3 Bunkyo-cho, Hirosaki 036-8561, Japan","institution_ids":["https://openalex.org/I146516829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Yoshida","raw_affiliation_strings":["c    Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","c Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"c Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaru Uchiyama","raw_affiliation_strings":["d    Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","d Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"d    Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"d Department of Aeronautics and Space Engineering, Graduate School of Engineering, Tohoku University, Aoba-yama 01, Sendai 980-8579, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.834,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.72849978,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"13","issue":"6","first_page":"617","last_page":"631"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9957000017166138,"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/robotic-arm","display_name":"Robotic arm","score":0.8053022623062134},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7238961458206177},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6033773422241211},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5968893766403198},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5797299146652222},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5303153395652771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.50693279504776},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4922854006290436},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.48920416831970215},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.45813798904418945},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4565347135066986},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4560307562351227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3979146480560303},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3672437071800232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3342561721801758},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16292333602905273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14497533440589905},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06973832845687866}],"concepts":[{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.8053022623062134},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7238961458206177},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6033773422241211},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5968893766403198},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5797299146652222},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5303153395652771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.50693279504776},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4922854006290436},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.48920416831970215},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.45813798904418945},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4565347135066986},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4560307562351227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3979146480560303},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3672437071800232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3342561721801758},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16292333602905273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14497533440589905},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06973832845687866},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855399x01846","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855399x01846","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1582186692","https://openalex.org/W1838033012","https://openalex.org/W2010400983","https://openalex.org/W2103610162","https://openalex.org/W2132321400","https://openalex.org/W2157330254","https://openalex.org/W2161940797"],"related_works":["https://openalex.org/W4234825356","https://openalex.org/W1515399142","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2329712830","https://openalex.org/W848152769","https://openalex.org/W2373585563","https://openalex.org/W1639816509","https://openalex.org/W2390797667"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"work":[2],"reports":[3],"progress":[4],"on":[5,31,63],"a":[6,46,67],"long-reach":[7],"manipulator":[8,13],"project.":[9],"The":[10],"original":[11],"single-arm":[12],"was":[14],"complemented":[15],"with":[16],"an":[17,56],"identical":[18],"second":[19],"arm.":[20],"We":[21],"introduce":[22],"several":[23],"non-contact":[24],"motion":[25,61],"control":[26,44],"strategies":[27],"which":[28],"are":[29],"based":[30],"the":[32,51,72,76],"reaction":[33],"null":[34,84],"space":[35],"concept":[36],"developed":[37],"earlier.":[38],"Experimental":[39],"verification":[40],"of":[41],"disturbance":[42],"compensation":[43],"via":[45,50],"single":[47],"arm,":[48],"and":[49,75],"two":[52,73],"arms":[53,74],"while":[54],"holding":[55],"object,":[57,77],"is":[58,78],"done.":[59],"Also,":[60],"feasibility":[62],"reactionless":[64],"paths":[65],"for":[66],"closed":[68],"kinematic":[69],"chain,":[70],"including":[71],"examined.":[79],"Keywords:":[80],"Long-reach":[81],"manipulatorflexible":[82],"basereaction":[83],"spacevibration":[85],"suppressionspace":[86],"robot":[87]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}