The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators
Abstract
A novel robust servosystem design method based on the two-degree-of-freedom (TDOF) controller and its application to advanced motion control for a robot manipulator is proposed. This servosystem is derived from the simple parametrization. The command input response and the closed loop characteristics can be specified independently by using two parameters which belong to the ring of stable and proper rational functions. The sensitivity and the complementary sensitivity functions can be determined straightforwardly through the optimization of the two design parameters. The control performance of the servosystem has been demonstrated. A completely decentralized joint control system for multiaxis robut manipulators has been realized. In particular, various kinds of robot motion controls, such as compliance, force, and hybrid controls, are realized in a unified way based on the robust position control. This servosystem has been implemented using DSP.>
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Improving Disturbance-Rejection Performance Based on an Equivalent-Input-Disturbance Approach
She, J.-H., Fang, M., Ohyama, Y., Hashimoto, H., & Wu, M. (2008) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2007.905976 · Cited by 579
Metadata
- Authors
- Umeno, T., Kaneko, T., & Hori, Y.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 1993
- Volume
- 40
- Issue
- 5
- Pages
- 473-485
- ISSN
- 0278-0046 (ISSN-L)
- OpenAlex
- W2138327849
- Cited by
- 284
- References
- 1
- FWCI
- 3.31
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators. https://app.cochat.ai/papers/10.1109/41.238016
- The paper
- Umeno, T., Kaneko, T., & Hori, Y. (1993). Robust servosystem design with two degrees of freedom and its application to novel motion control of robot manipulators. IEEE Transactions on Industrial Electronics. https://doi.org/10.1109/41.238016
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
