{"id":"https://openalex.org/W2045366815","doi":"https://doi.org/10.2316/journal.206.2006.1.206-2806","title":"A MODEL FOR OPTIMIZATION AND CONTROL OF SPATIAL COMPLIANT MANIPULATORS","display_name":"A MODEL FOR OPTIMIZATION AND CONTROL OF SPATIAL COMPLIANT MANIPULATORS","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2045366815","doi":"https://doi.org/10.2316/journal.206.2006.1.206-2806","mag":"2045366815"},"language":"en","primary_location":{"id":"doi:10.2316/journal.206.2006.1.206-2806","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2006.1.206-2806","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","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/A5042675228","display_name":"Stephen L. Canfield","orcid":"https://orcid.org/0000-0003-1594-7777"},"institutions":[{"id":"https://openalex.org/I63920570","display_name":"Tennessee Technological University","ror":"https://ror.org/05drmrq39","country_code":"US","type":"education","lineage":["https://openalex.org/I63920570"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.L. Can\ufb01eld","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tennessee Technological University, Cookeville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tennessee Technological University, Cookeville, TN","institution_ids":["https://openalex.org/I63920570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015674675","display_name":"James W. Beard","orcid":null},"institutions":[{"id":"https://openalex.org/I63920570","display_name":"Tennessee Technological University","ror":"https://ror.org/05drmrq39","country_code":"US","type":"education","lineage":["https://openalex.org/I63920570"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.W. Beard","raw_affiliation_strings":["Dept. of Mechanical Engineering, Tennessee Technological University, Cookeville, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Tennessee Technological University, Cookeville, TN","institution_ids":["https://openalex.org/I63920570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63920570"],"apc_list":null,"apc_paid":null,"fwci":1.836,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86481362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","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"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"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/T11115","display_name":"Topology Optimization in Engineering","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/kinematics","display_name":"Kinematics","score":0.6699232459068298},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6577073931694031},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5685580372810364},{"id":"https://openalex.org/keywords/compliant-mechanism","display_name":"Compliant mechanism","score":0.5620483160018921},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.528992772102356},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5223080515861511},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48800960183143616},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4403616189956665},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4122389853000641},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32484233379364014},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30788350105285645},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.2227831780910492},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19615811109542847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16732454299926758},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11743003129959106}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6699232459068298},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6577073931694031},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5685580372810364},{"id":"https://openalex.org/C79772673","wikidata":"https://www.wikidata.org/wiki/Q5156643","display_name":"Compliant mechanism","level":3,"score":0.5620483160018921},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.528992772102356},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5223080515861511},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48800960183143616},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4403616189956665},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4122389853000641},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32484233379364014},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30788350105285645},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2227831780910492},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19615811109542847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16732454299926758},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11743003129959106},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic 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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2316/journal.206.2006.1.206-2806","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2006.1.206-2806","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1501357369","https://openalex.org/W1964886801","https://openalex.org/W1976315297","https://openalex.org/W1996639563","https://openalex.org/W2039344713","https://openalex.org/W2045112282","https://openalex.org/W2047251140","https://openalex.org/W2057789669","https://openalex.org/W2069268597","https://openalex.org/W2103985971","https://openalex.org/W2158139030","https://openalex.org/W2250473119","https://openalex.org/W2480543254","https://openalex.org/W2736241833","https://openalex.org/W3116024342","https://openalex.org/W3129003916","https://openalex.org/W3208620684"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2145154791","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387"],"abstract_inverted_index":{"This":[0,25],"paper":[1],"will":[2,13,27,61,108,148],"present":[3],"a":[4,31,38,55,77,113,160],"kinetoelastic":[5],"model":[6,26,60,107,139,170],"appropriate":[7],"for":[8,16,80],"spatial":[9],"compliant":[10,34,56,104,115,133,175],"manipulators":[11,35,47],"that":[12,41,97],"be":[14,28,110,150],"used":[15],"size":[17,124],"optimization":[18,125],"and":[19,66,94,145],"motion":[20],"control":[21,172],"of":[22,33,45,70,103,126,130,137,168,173],"these":[23],"devices.":[24],"applicable":[29],"to":[30,90,112,119,140,164],"class":[32],"based":[36,87],"on":[37,88],"parallel":[39,46],"architecture":[40],"combines":[42],"the":[43,49,64,101,127,131,138,143,155,165],"characteristics":[44],"with":[48,154],"low-cost,":[50],"small-scale":[51],"capabilities":[52],"resulting":[53],"from":[54],"structure":[57],"design.":[58],"The":[59,106,135,157],"address":[62],"both":[63],"forward":[65,144],"inverse":[67,146],"kinematic":[68],"analysis":[69],"such":[71],"devices,":[72],"as":[73,75],"well":[74],"form":[76],"design":[78],"tool":[79],"dimensional":[81,128],"synthesis":[82],"in":[83,100,123,171],"an":[84],"optimal":[85],"sense":[86],"sensitivity":[89],"joint":[91],"strain":[92],"limits":[93],"manufacture,":[95],"parameters":[96,129],"are":[98],"critical":[99],"performance":[102],"manipulators.":[105,176],"then":[109],"applied":[111],"specific":[114],"3-degree-of-freedom":[116],"manipulator":[117],"topology":[118],"demonstrate":[120],"its":[121],"use":[122],"selected":[132],"manipulator.":[134],"ability":[136],"accurately":[141],"solve":[142],"kinematics":[147],"also":[149],"evaluated":[151],"through":[152],"testing":[153],"prototype.":[156],"authors":[158],"provide":[159],"general":[161],"discussion":[162],"geared":[163],"future":[166],"implementation":[167],"this":[169],"positioning":[174]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
