{"id":"https://openalex.org/W4367054407","doi":"https://doi.org/10.3390/s23094276","title":"The Five-DOF Explosion-Removal Manipulator Based on Position and Velocity Feedforward Compensation Control","display_name":"The Five-DOF Explosion-Removal Manipulator Based on Position and Velocity Feedforward Compensation Control","publication_year":2023,"publication_date":"2023-04-25","ids":{"openalex":"https://openalex.org/W4367054407","doi":"https://doi.org/10.3390/s23094276","pmid":"https://pubmed.ncbi.nlm.nih.gov/37177480"},"language":"en","primary_location":{"id":"doi:10.3390/s23094276","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23094276","pdf_url":"https://www.mdpi.com/1424-8220/23/9/4276/pdf?version=1682560145","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/9/4276/pdf?version=1682560145","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013778253","display_name":"Jianwei Zhao","orcid":"https://orcid.org/0000-0002-2831-1201"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Zhao","raw_affiliation_strings":["School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China"],"raw_orcid":"https://orcid.org/0000-0002-2831-1201","affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039139971","display_name":"Jiaxin Zhou","orcid":"https://orcid.org/0009-0003-1185-0916"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiaxin Zhou","raw_affiliation_strings":["School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5039139971"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.3494,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5571548,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"23","issue":"9","first_page":"4276","last_page":"4276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14474","display_name":"Industrial Technology and Control Systems","score":0.9882000088691711,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.9882000088691711,"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":0.9818000197410583,"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/T14225","display_name":"Advanced Sensor and Control Systems","score":0.9668999910354614,"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/feed-forward","display_name":"Feed forward","score":0.7880358695983887},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6560184955596924},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6312669515609741},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.617260754108429},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.607448935508728},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4059240221977234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38349002599716187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3766399025917053},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3537922501564026},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21697485446929932},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.15999269485473633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1547512412071228},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05864226818084717}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7880358695983887},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6560184955596924},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6312669515609741},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.617260754108429},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.607448935508728},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4059240221977234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38349002599716187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3766399025917053},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3537922501564026},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21697485446929932},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.15999269485473633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1547512412071228},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05864226818084717},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23094276","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23094276","pdf_url":"https://www.mdpi.com/1424-8220/23/9/4276/pdf?version=1682560145","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:37177480","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37177480","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10181389","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10181389","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10181389/pdf/sensors-23-04276.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:0e6245913b0642c9b84ae9cca9764335","is_oa":true,"landing_page_url":"https://doaj.org/article/0e6245913b0642c9b84ae9cca9764335","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 9, p 4276 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/9/4276/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23094276","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 23; Issue 9; Pages: 4276","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23094276","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23094276","pdf_url":"https://www.mdpi.com/1424-8220/23/9/4276/pdf?version=1682560145","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3187374330","display_name":null,"funder_award_id":"21GCYB04","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3714724070","display_name":null,"funder_award_id":"51575005","funder_id":"https://openalex.org/F4320335869","funder_display_name":"National Social Science Fund of China"},{"id":"https://openalex.org/G4694257830","display_name":null,"funder_award_id":"1221051","funder_id":"https://openalex.org/F4320335869","funder_display_name":"National Social Science Fund of China"},{"id":"https://openalex.org/G4833144035","display_name":null,"funder_award_id":"BIA200191","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G649634298","display_name":null,"funder_award_id":"51575005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7713392888","display_name":null,"funder_award_id":"BIA200191","funder_id":"https://openalex.org/F4320335869","funder_display_name":"National Social Science Fund of China"},{"id":"https://openalex.org/G7825327573","display_name":null,"funder_award_id":"1221051","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7888461225","display_name":null,"funder_award_id":"21GCYB04","funder_id":"https://openalex.org/F4320335869","funder_display_name":"National Social Science Fund of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335869","display_name":"National Social Science Fund of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4367054407.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1950407541","https://openalex.org/W2002562852","https://openalex.org/W2005249374","https://openalex.org/W2008950591","https://openalex.org/W2045808608","https://openalex.org/W2081283250","https://openalex.org/W2084227991","https://openalex.org/W2116013271","https://openalex.org/W2116249510","https://openalex.org/W2121285043","https://openalex.org/W2161165628","https://openalex.org/W2167675176","https://openalex.org/W2289734693","https://openalex.org/W2314644630","https://openalex.org/W2364552267","https://openalex.org/W2494058187","https://openalex.org/W2526399262","https://openalex.org/W2553723245","https://openalex.org/W2738739922","https://openalex.org/W2744818472","https://openalex.org/W2809487102","https://openalex.org/W2872947583","https://openalex.org/W2904554343","https://openalex.org/W2914445870","https://openalex.org/W2999490918","https://openalex.org/W3010835483","https://openalex.org/W3164441713","https://openalex.org/W3176817713","https://openalex.org/W4254025767","https://openalex.org/W4366293719","https://openalex.org/W6618486840","https://openalex.org/W6676821169","https://openalex.org/W7057436305"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2900512251","https://openalex.org/W2362551533","https://openalex.org/W2386777533","https://openalex.org/W2373581562","https://openalex.org/W2354638634","https://openalex.org/W1973860365","https://openalex.org/W2358412393","https://openalex.org/W2380159283","https://openalex.org/W4319156915"],"abstract_inverted_index":{"The":[0,78],"main":[1],"problem":[2],"with":[3,39],"a":[4,66,97],"robotic":[5,48,74,87,92],"system":[6,95],"arm":[7,49,75,88,93],"is":[8,23,36],"its":[9,116],"sensitivity":[10],"to":[11,19,25,37,51,84],"time":[12],"delays":[13],"in":[14],"the":[15,28,32,40,53,59,90,109],"control":[16,29,41,71,94],"process.":[17],"Due":[18],"this":[20],"problem,":[21],"it":[22],"necessary":[24],"further":[26],"optimize":[27],"process":[30],"of":[31,47],"system.":[33],"One":[34],"solution":[35],"deal":[38],"accuracy":[42],"and":[43,57,69,101],"response":[44,55,104,111],"speed":[45,67],"issues":[46],"joints,":[50],"improve":[52,108],"system's":[54,60,110],"performance":[56,112],"enhance":[58],"anti-interference":[61,117],"ability.":[62,118],"This":[63],"paper":[64],"proposes":[65],"feedforward":[68],"position":[70],"scheme":[72],"for":[73],"joint":[76],"control.":[77],"conclusion":[79],"section":[80],"shows":[81],"that":[82],"compared":[83],"traditional":[85],"five-degree-of-freedom":[86],"systems,":[89],"addressed":[91],"has":[96],"lower":[98],"tracking":[99],"delay":[100],"better":[102],"dynamic":[103],"performance.":[105],"It":[106],"can":[107],"while":[113],"also":[114],"enhancing":[115]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
