{"id":"https://openalex.org/W1984647525","doi":"https://doi.org/10.1177/02783649922066295","title":"Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations","display_name":"Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations","publication_year":1999,"publication_date":"1999-04-01","ids":{"openalex":"https://openalex.org/W1984647525","doi":"https://doi.org/10.1177/02783649922066295","mag":"1984647525"},"language":"en","primary_location":{"id":"doi:10.1177/02783649922066295","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066295","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Computational Intelligence and Systems Science,                         Interdisciplinary Graduate School of Science and Engineering, Tokyo                         Institute of Technology, Midori, Yokohama 226-8502, Japan","Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Midori, Yokohama 226-8502, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Computational Intelligence and Systems Science,                         Interdisciplinary Graduate School of Science and Engineering, Tokyo                         Institute of Technology, Midori, Yokohama 226-8502, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Midori, Yokohama 226-8502, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027253113","display_name":"Michinori Hatayama","orcid":"https://orcid.org/0000-0002-5257-6373"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Michinori Hatayama","raw_affiliation_strings":["Department of Computational Intelligence and Systems Science,                         Interdisciplinary Graduate School of Science and Engineering, Tokyo                         Institute of Technology, Midori, Yokohama 226-8502, Japan","Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Midori, Yokohama 226-8502, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Computational Intelligence and Systems Science,                         Interdisciplinary Graduate School of Science and Engineering, Tokyo                         Institute of Technology, Midori, Yokohama 226-8502, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Computational Intelligence and Systems Science, Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology, Midori, Yokohama 226-8502, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015434555"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":2.3342,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.86628697,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"18","issue":"4","first_page":"414","last_page":"428"},"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":0.9979000091552734,"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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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":0.9815999865531921,"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/workspace","display_name":"Workspace","score":0.8258904218673706},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7097834944725037},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6299731135368347},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5274536609649658},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.5168133974075317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5099900960922241},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4923046827316284},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.4818883538246155},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.47073590755462646},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29518866539001465},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2894764542579651},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17772552371025085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1065339744091034},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09791582822799683}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8258904218673706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7097834944725037},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6299731135368347},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5274536609649658},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.5168133974075317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5099900960922241},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4923046827316284},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.4818883538246155},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.47073590755462646},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29518866539001465},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2894764542579651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17772552371025085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1065339744091034},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09791582822799683},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649922066295","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922066295","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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":15,"referenced_works":["https://openalex.org/W1571436240","https://openalex.org/W1963634805","https://openalex.org/W1967732472","https://openalex.org/W1988862987","https://openalex.org/W2008090618","https://openalex.org/W2090035301","https://openalex.org/W2092453501","https://openalex.org/W2106929622","https://openalex.org/W2130351752","https://openalex.org/W2136836638","https://openalex.org/W2163181260","https://openalex.org/W2164121820","https://openalex.org/W2168975935","https://openalex.org/W2586310851","https://openalex.org/W4232027764"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,7,12,27,32,89,127],"dynamic":[4,38],"model":[5],"of":[6,21,40,42,52,56,69,83,93,115,121],"distributed":[8],"parameter":[9],"system":[10],"and":[11,48,62,101,109],"control":[13,120],"architecture":[14],"are":[15,73,137],"developed":[16],"for":[17,117],"the":[18,37,43,53,57,59,63,77,81,84,94,106,110,118,122],"closed-chain":[19],"motion":[20],"two":[22,95,123],"two-link":[23],"flexible":[24,44,85,96,124],"manipulators":[25,97,125],"holding":[26],"common":[28],"rigid":[29],"object":[30],"in":[31],"horizontal":[33],"workspace.":[34],"We":[35,87],"derive":[36],"relation":[39,55],"deformation":[41],"links,":[45],"constraint":[46,60],"force,":[47,61],"rigid-object":[49,64],"dynamics.":[50],"Use":[51],"quasi-static":[54,67,111],"deformation,":[58],"dynamics":[65],"gives":[66],"equations":[68],"joint":[70],"angles":[71],"which":[72],"not":[74],"dependent":[75],"on":[76],"variables":[78],"related":[79],"to":[80],"deformations":[82],"links.":[86],"design":[88],"robust":[90],"cooperative":[91,119],"controller":[92],"considering":[98],"measurement":[99],"disturbances":[100],"modeling":[102],"errors":[103],"caused":[104],"by":[105],"link-parameter":[107],"uncertainty":[108],"approximation.":[112],"A":[113],"set":[114],"experiments":[116],"using":[126],"force":[128],"sensor":[129],"has":[130],"been":[131],"carried":[132],"out.":[133],"Several":[134],"experimental":[135],"results":[136],"shown.":[138]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}