{"id":"https://openalex.org/W1973037244","doi":"https://doi.org/10.1177/027836499301200507","title":"An Investigation of Impedance Control for Robot Manipulators","display_name":"An Investigation of Impedance Control for Robot Manipulators","publication_year":1993,"publication_date":"1993-10-01","ids":{"openalex":"https://openalex.org/W1973037244","doi":"https://doi.org/10.1177/027836499301200507","mag":"1973037244"},"language":"en","primary_location":{"id":"doi:10.1177/027836499301200507","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499301200507","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":true,"oa_status":"green","oa_url":"https://ir.library.carleton.ca/pub/22929","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021340066","display_name":"William McCormick","orcid":null},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"W. McCormick","raw_affiliation_strings":["Department of Systems and Computer Engineering Carleton University Ottawa, Canada","[Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada.]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems and Computer Engineering Carleton University Ottawa, Canada","institution_ids":["https://openalex.org/I67031392"]},{"raw_affiliation_string":"[Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada.]","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018347314","display_name":"Howard M. Schwartz","orcid":"https://orcid.org/0000-0002-4489-5892"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"H.M. Schwartz","raw_affiliation_strings":["Department of Systems and Computer Engineering Carleton University Ottawa, Canada","[Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada.]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems and Computer Engineering Carleton University Ottawa, Canada","institution_ids":["https://openalex.org/I67031392"]},{"raw_affiliation_string":"[Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada.]","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":null,"apc_paid":null,"fwci":3.4893,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.91260097,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"12","issue":"5","first_page":"473","last_page":"489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9914000034332275,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9911999702453613,"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/impedance-control","display_name":"Impedance control","score":0.7697113752365112},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7525521516799927},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6647711396217346},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.65085768699646},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5619210600852966},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5538347363471985},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5527933835983276},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5402739644050598},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5301894545555115},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5241875052452087},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49082455039024353},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4627065658569336},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4159579575061798},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40575453639030457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38355427980422974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17843660712242126},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07947194576263428}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7697113752365112},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7525521516799927},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6647711396217346},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.65085768699646},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5619210600852966},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5538347363471985},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5527933835983276},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5402739644050598},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5301894545555115},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5241875052452087},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49082455039024353},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4627065658569336},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4159579575061798},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40575453639030457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38355427980422974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17843660712242126},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07947194576263428},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499301200507","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499301200507","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"},{"id":"pmh:oai:carleton.ca:22929","is_oa":true,"landing_page_url":"https://ir.library.carleton.ca/pub/22929","pdf_url":null,"source":{"id":"https://openalex.org/S4306402514","display_name":"Carleton University's Institutional Repository (MacOdrum Library, Carleton University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Robotics Research vol. 12 no. 5, pp. 473-489","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:carleton.ca:22929","is_oa":true,"landing_page_url":"https://ir.library.carleton.ca/pub/22929","pdf_url":null,"source":{"id":"https://openalex.org/S4306402514","display_name":"Carleton University's Institutional Repository (MacOdrum Library, Carleton University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Robotics Research vol. 12 no. 5, pp. 473-489","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1511314422","https://openalex.org/W1967377907","https://openalex.org/W1974357213","https://openalex.org/W2016958754","https://openalex.org/W2025939589","https://openalex.org/W2026645764","https://openalex.org/W2056515188","https://openalex.org/W2062691475","https://openalex.org/W2067587337","https://openalex.org/W2105360813","https://openalex.org/W2150446927","https://openalex.org/W2155829031","https://openalex.org/W4300667971"],"related_works":["https://openalex.org/W2314048082","https://openalex.org/W1548357495","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2573372219","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2109744644","https://openalex.org/W1486892442"],"abstract_inverted_index":{"This":[0],"article":[1,62],"documents":[2],"investigations":[3],"into":[4],"impedance":[5,21,28],"control":[6],"carried":[7],"out":[8],"on":[9,37],"a":[10],"direct":[11,40],"drive":[12,41],"robot":[13],"manipulator.":[14],"Both":[15],"linear":[16],"and":[17,35,58,66,85,93],"nonlinear":[18],"versions":[19],"of":[20,45,54,69],"contrallers":[22],"have":[23,30],"been":[24,31],"investigated.":[25],"The":[26,43,61],"two":[27],"controllers":[29,47],"simu":[32],"lated":[33],"numerically":[34],"implemented":[36],"Carleton":[38],"University's":[39],"robot.":[42],"performance":[44],"these":[46],"is":[48],"ex":[49],"perimentally":[50],"compared":[51],"in":[52],"terms":[53],"force":[55],"trajectory":[56],"following":[57],"contact":[59],"stability.":[60],"highlights":[63],"the":[64,70,74,79,82,86],"practical":[65],"experimental":[67,75],"limitations":[68],"proposed":[71],"methods.":[72],"Furthermore,":[73],"results":[76],"indicate":[77],"that":[78],"controller":[80],"design,":[81],"manipulator":[83],"kinematics,":[84],"desired":[87],"task":[88],"must":[89],"all":[90],"be":[91],"considered":[92],"evaluated":[94],"simultaneously.":[95]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
