{"id":"https://openalex.org/W2098606608","doi":"https://doi.org/10.23919/acc.2004.1384510","title":"Contouring control of Stewart Platform based machine tools","display_name":"Contouring control of Stewart Platform based machine tools","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2098606608","doi":"https://doi.org/10.23919/acc.2004.1384510","mag":"2098606608"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2004.1384510","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1384510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073932652","display_name":"Denis Garagi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134052","display_name":"Scientific Systems (United States)","ror":"https://ror.org/033xh9c11","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134052"]},{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Garagic","raw_affiliation_strings":["Ohio State Uinversity, Columbus, OH, USA","Scientific Systems Company, Inc., Woburn, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ohio State Uinversity, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Scientific Systems Company, Inc., Woburn, MA, USA","institution_ids":["https://openalex.org/I4210134052"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100687796","display_name":"K. Srinivasan","orcid":"https://orcid.org/0000-0002-7307-7434"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Srinivasan","raw_affiliation_strings":["Mechanical Engineering Department, Ohio State Uinversity, Columbus, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Ohio State Uinversity, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3831","last_page":"3838 vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","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/T11749","display_name":"Iterative Learning Control Systems","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/T13644","display_name":"Control Systems in Engineering","score":0.9979000091552734,"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":0.9975000023841858,"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":0.782340407371521},{"id":"https://openalex.org/keywords/contouring","display_name":"Contouring","score":0.7370962500572205},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6507165431976318},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5765389204025269},{"id":"https://openalex.org/keywords/stiction","display_name":"Stiction","score":0.543382465839386},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.49213045835494995},{"id":"https://openalex.org/keywords/machine-tool","display_name":"Machine tool","score":0.47790250182151794},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.46357491612434387},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.436808317899704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4316050112247467},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.42880862951278687},{"id":"https://openalex.org/keywords/friction-coefficient","display_name":"Friction coefficient","score":0.42587292194366455},{"id":"https://openalex.org/keywords/static-friction","display_name":"Static friction","score":0.4248761236667633},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.42318469285964966},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.3981383740901947},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3313438892364502},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27381062507629395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20672762393951416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1583886742591858},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1364162564277649},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.10367342829704285},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08415758609771729}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.782340407371521},{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.7370962500572205},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6507165431976318},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5765389204025269},{"id":"https://openalex.org/C110339231","wikidata":"https://www.wikidata.org/wiki/Q2143425","display_name":"Stiction","level":3,"score":0.543382465839386},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.49213045835494995},{"id":"https://openalex.org/C5941749","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Machine tool","level":2,"score":0.47790250182151794},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.46357491612434387},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.436808317899704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4316050112247467},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.42880862951278687},{"id":"https://openalex.org/C2989152160","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Friction coefficient","level":2,"score":0.42587292194366455},{"id":"https://openalex.org/C2987713562","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Static friction","level":2,"score":0.4248761236667633},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.42318469285964966},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.3981383740901947},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3313438892364502},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27381062507629395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20672762393951416},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1583886742591858},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1364162564277649},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.10367342829704285},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08415758609771729},{"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/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"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/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2004.1384510","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2004.1384510","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W180220073","https://openalex.org/W1256870269","https://openalex.org/W1551596967","https://openalex.org/W1989558436","https://openalex.org/W1997650413","https://openalex.org/W2009474255","https://openalex.org/W2067603665","https://openalex.org/W2077129956","https://openalex.org/W2079325629","https://openalex.org/W2162786073","https://openalex.org/W2300602808"],"related_works":["https://openalex.org/W2196972122","https://openalex.org/W1978629053","https://openalex.org/W50956894","https://openalex.org/W1976869044","https://openalex.org/W2042482310","https://openalex.org/W1977870189","https://openalex.org/W2765701904","https://openalex.org/W3129390414","https://openalex.org/W1551678010","https://openalex.org/W2494862031"],"abstract_inverted_index":{"In":[0,90],"this":[1],"paper,":[2],"two":[3],"novel":[4],"robust":[5,88],"adaptive":[6,34,158],"Cartesian":[7],"space":[8],"control":[9,149],"algorithms":[10,150],"are":[11,77,151,153],"proposed":[12,46],"for":[13,52,113],"friction":[14,35,43,47,63,69,76,109,142],"compensation":[15,36,48],"in":[16,126],"the":[17,62,91,127,144,157],"six":[18],"degrees":[19],"of":[20,61,97],"freedom":[21],"high":[22],"performance":[23],"Stewart":[24],"Platform":[25],"based":[26,38],"machine":[27],"tools.":[28],"The":[29,45,67,132],"first":[30],"controller":[31],"utilizes":[32],"an":[33],"scheme":[37],"on":[39,65],"a":[40,85,94,120],"postulated":[41],"linear-in-the-parameters":[42],"model.":[44],"algorithm":[49],"explicitly":[50],"accounts":[51],"time":[53],"varying":[54,72],"normal":[55],"forces":[56],"as":[57,59,79],"well":[58],"dependence":[60],"coefficient":[64],"velocity.":[66],"Stribeck":[68],"characteristic":[70],"and":[71,82,111],"spherical":[73],"joint":[74],"static":[75],"treated":[78],"bounded":[80],"disturbances,":[81],"compensated":[83],"by":[84,141,156],"sliding":[86],"mode":[87],"controller.":[89],"second":[92],"controller,":[93],"new":[95],"form":[96],"Takagi-Sugeno":[98],"multi-input":[99],"multi-output":[100],"fuzzy":[101],"system":[102],"is":[103,130],"developed":[104],"to":[105],"adaptively":[106],"learn":[107],"unknown":[108],"behavior":[110],"compensate":[112],"it.":[114],"This":[115],"approach":[116],"assumes":[117],"that":[118,136],"no":[119],"priori":[121],"knowledge":[122],"about":[123],"frictional":[124],"effects":[125],"strut":[128],"joints":[129],"available.":[131],"simulation":[133],"results":[134],"indicate":[135],"large":[137],"contouring":[138],"errors":[139],"caused":[140],"at":[143],"velocity":[145],"reversals":[146],"when":[147],"conventional":[148],"used,":[152],"reduced":[154],"greatly":[155],"controllers.":[159]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}