{"id":"https://openalex.org/W2007109060","doi":"https://doi.org/10.1177/027836499401300601","title":"Experimental Results for Force Distribution in Cooperating Manipulator Systems Using Local Joint Control","display_name":"Experimental Results for Force Distribution in Cooperating Manipulator Systems Using Local Joint Control","publication_year":1994,"publication_date":"1994-12-01","ids":{"openalex":"https://openalex.org/W2007109060","doi":"https://doi.org/10.1177/027836499401300601","mag":"2007109060"},"language":"en","primary_location":{"id":"doi:10.1177/027836499401300601","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499401300601","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/A5087730748","display_name":"Greg R. Luecke","orcid":"https://orcid.org/0000-0003-4880-9039"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G.R. Luecke","raw_affiliation_strings":["Department of Mechanical Engineering Iowa State University, Ames, Iowa 50011"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Iowa State University, Ames, Iowa 50011","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054969825","display_name":"John Gardner","orcid":"https://orcid.org/0000-0003-0484-9872"},"institutions":[{"id":"https://openalex.org/I130769515","display_name":"Pennsylvania State University","ror":"https://ror.org/04p491231","country_code":"US","type":"education","lineage":["https://openalex.org/I130769515"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.F. Gardner","raw_affiliation_strings":["Department of Mechanical Engineering The Pennsylvania State University University Park, Pennsylvania 16802","Department of Mechanical Engineering , The Pennsylvania State University , University Park, Pennsylvania, 16802"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering The Pennsylvania State University University Park, Pennsylvania 16802","institution_ids":["https://openalex.org/I130769515"]},{"raw_affiliation_string":"Department of Mechanical Engineering , The Pennsylvania State University , University Park, Pennsylvania, 16802","institution_ids":["https://openalex.org/I130769515"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.1661591,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"13","issue":"6","first_page":"471","last_page":"480"},"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":0.9984999895095825,"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":0.9969000220298767,"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/control-theory","display_name":"Control theory (sociology)","score":0.7167345285415649},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.609752893447876},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5687496066093445},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5271161198616028},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5045207738876343},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5035566687583923},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4824810326099396},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4698713421821594},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.4534599184989929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44572320580482483},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43632155656814575},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3696601390838623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1359862983226776},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07648631930351257}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7167345285415649},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.609752893447876},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5687496066093445},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5271161198616028},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5045207738876343},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5035566687583923},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4824810326099396},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4698713421821594},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.4534599184989929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44572320580482483},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43632155656814575},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3696601390838623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1359862983226776},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07648631930351257},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836499401300601","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499401300601","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1505660892","https://openalex.org/W1554236449","https://openalex.org/W1913694502","https://openalex.org/W1983716668","https://openalex.org/W1993616850","https://openalex.org/W2016958754","https://openalex.org/W2075641421","https://openalex.org/W2076650116","https://openalex.org/W2078038590","https://openalex.org/W2081557857","https://openalex.org/W2092453501","https://openalex.org/W2100214048","https://openalex.org/W2112122654","https://openalex.org/W2112474089","https://openalex.org/W2116218946","https://openalex.org/W2145740444","https://openalex.org/W2150500908","https://openalex.org/W2155829031","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W2911870593"],"related_works":["https://openalex.org/W4244295168","https://openalex.org/W1977333149","https://openalex.org/W2601046814","https://openalex.org/W2944714857","https://openalex.org/W2051516522","https://openalex.org/W2029301385","https://openalex.org/W1994771094","https://openalex.org/W3952480","https://openalex.org/W2042158690","https://openalex.org/W2090257039"],"abstract_inverted_index":{"Local":[0],"control":[1,11,17,61,120],"schemes":[2],"using":[3,52],"only":[4],"position":[5],"and":[6,90],"rate":[7],"errors":[8],"to":[9,94],"generate":[10],"forces":[12,50],"are":[13,39,102],"widely":[14],"used":[15],"for":[16,59,112],"of":[18,48,62,71,86,117],"open-":[19],"chain,":[20,34],"serial-link":[21],"robotic":[22],"mechanisms,":[23],"When":[24],"two":[25],"or":[26],"more":[27],"such":[28],"open":[29],"chains":[30],"interact,":[31],"closed":[32],"kinematic":[33],"redundantly":[35],"actu":[36],"ated":[37],"mechanisms":[38],"formed.":[40],"Recent":[41],"work":[42,82],"has":[43],"shown":[44],"that":[45],"the":[46,60,84,96,115],"vector":[47,70],"joint":[49,72],"produced":[51],"a":[53,63,69,75],"local":[54],"proportional-plus-":[55],"derivative":[56],"feedback":[57],"scheme":[58],"cooperating":[64,107,123],"manipulator":[65,108],"system":[66,109],"results":[67],"in":[68,114,122],"torques":[73],"with":[74],"minimum":[76],"weighted":[77],"Euclidean":[78],"norm.":[79],"The":[80,99],"current":[81],"presents":[83],"derivation":[85],"this":[87],"force":[88],"distribution":[89],"experimental":[91,106],"evi":[92],"dence":[93],"corroborate":[95],"analytic":[97],"results.":[98],"data":[100],"presented":[101],"obtained":[103],"from":[104],"an":[105],"developed":[110],"specifically":[111],"use":[113],"application":[116],"theo":[118],"retical":[119],"approaches":[121],"hardware":[124],"systems.":[125]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
