{"id":"https://openalex.org/W1606228120","doi":"https://doi.org/10.1109/icra.2015.7139406","title":"Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot","display_name":"Pulley friction compensation for winch-integrated cable force measurement and verification on a cable-driven parallel robot","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1606228120","doi":"https://doi.org/10.1109/icra.2015.7139406","mag":"1606228120"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publica.fraunhofer.de/bitstreams/e012fa45-29ea-4f56-aa4b-da03f19ee815/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035919667","display_name":"Werner Kraus","orcid":"https://orcid.org/0000-0001-8452-1468"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Werner Kraus","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056133474","display_name":"Michael R. Kessler","orcid":"https://orcid.org/0000-0001-8436-3447"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Kessler","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067767740","display_name":"Andreas Pott","orcid":"https://orcid.org/0000-0002-4031-6363"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Pott","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.318,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":34,"citation_normalized_percentile":{"value":0.991661,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1627","last_page":"1632"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9981,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9981,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9979,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/winch","display_name":"Winch","score":0.780717},{"id":"https://openalex.org/keywords/workspace","display_name":"Work space","score":0.53706867},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.47594213},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.45135486}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.9717963},{"id":"https://openalex.org/C116168119","wikidata":"https://www.wikidata.org/wiki/Q258534","display_name":"Winch","level":2,"score":0.780717},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.59008044},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.53706867},{"id":"https://openalex.org/C2986328948","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coulomb friction","level":3,"score":0.47594213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4744136},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.45135486},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4363556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38239706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35449177},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32235286},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3201254},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15554526},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1184209},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-347617.html","pdf_url":"http://publica.fraunhofer.de/bitstreams/e012fa45-29ea-4f56-aa4b-da03f19ee815/download","source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer Society","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":["Fraunhofer Society"],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://publica.fraunhofer.de/documents/N-347617.html","pdf_url":"http://publica.fraunhofer.de/bitstreams/e012fa45-29ea-4f56-aa4b-da03f19ee815/download","source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer Society","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":["Fraunhofer Society"],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":17,"referenced_works":["https://openalex.org/W1566907971","https://openalex.org/W1602498161","https://openalex.org/W187812368","https://openalex.org/W2025702470","https://openalex.org/W2046799983","https://openalex.org/W2058752945","https://openalex.org/W2066309255","https://openalex.org/W2109873680","https://openalex.org/W2141499439","https://openalex.org/W2144932267","https://openalex.org/W2154578892","https://openalex.org/W2160657520","https://openalex.org/W2166271005","https://openalex.org/W2409758685","https://openalex.org/W32277538","https://openalex.org/W82682929","https://openalex.org/W87514330"],"related_works":["https://openalex.org/W4214734142","https://openalex.org/W3000650229","https://openalex.org/W2997535272","https://openalex.org/W2547586420","https://openalex.org/W2388215802","https://openalex.org/W2326061274","https://openalex.org/W2159418100","https://openalex.org/W2153426741","https://openalex.org/W2113969557","https://openalex.org/W2041756097"],"abstract_inverted_index":{"In":[0],"a":[1],"cable-driven":[2],"parallel":[3],"robot,":[4],"elastic":[5],"cables":[6],"are":[7,119],"used":[8],"to":[9,72,121,137],"manipulate":[10],"the":[11,15,44,48,53,60,64,67,82,88,94,97,102,124,138],"end":[12],"effector":[13],"within":[14],"workspace.":[16],"Cable":[17],"force":[18,28,37,61,68],"measurement":[19,69],"is":[20,99],"necessary":[21],"for":[22],"several":[23],"control":[24],"algorithms":[25],"like":[26],"cable":[27,36,54,103],"control,":[29,31],"contact":[30],"or":[32,50],"load":[33],"identification.":[34],"The":[35,57,84,127],"sensor":[38,62],"can":[39],"be":[40],"placed":[41],"directly":[42],"at":[43],"connection":[45],"point":[46],"on":[47,93],"platform":[49,65],"somewhere":[51],"along":[52],"using":[55],"pulleys.":[56],"pulleys":[58,98],"between":[59],"and":[63,79,108,111,117],"disturb":[66],"accuracy":[70],"due":[71],"friction.":[73,83,126],"This":[74],"paper":[75],"deals":[76],"with":[77,91,123,135],"modeling":[78],"compensation":[80],"of":[81,96,106,133],"friction":[85],"behavior":[86],"in":[87],"drive":[89],"train":[90],"focus":[92],"effects":[95],"non-trivial,":[100],"as":[101],"movement":[104],"consists":[105],"microscopic":[107],"macroscopic":[109],"movements":[110],"standstills.":[112],"Friction":[113],"models":[114],"from":[115],"Coulomb":[116],"Dahl":[118],"adapted":[120],"deal":[122],"pulley":[125],"experimental":[128],"evaluation":[129],"showed":[130],"an":[131],"improvement":[132],"70%":[134],"respect":[136],"uncompensated":[139],"case.":[140]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1606228120","counts_by_year":[{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3}],"updated_date":"2025-03-19T21:22:19.154141","created_date":"2016-06-24"}