{"entities":{"Q936188":{"pageid":938036,"ns":120,"title":"Item:Q936188","lastrevid":65470833,"modified":"2026-04-12T02:49:45Z","type":"item","id":"Q936188","labels":{"en":{"language":"en","value":"Design of optimal hybrid position/force controller for a robot manipulator using neural networks"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5311260"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$F57D17B7-75D2-4FDD-87DD-95ECA27ADE01","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"4b9d057221b18ecf590a042cad02266817a7f6b2","datavalue":{"value":{"text":"Design of optimal hybrid position/force controller for a robot manipulator using neural networks","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q936188$7F03953A-D8DA-4ABD-B09F-59F9ED88F2F3","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"933af881e0e3c09f67371ce453203bd19c649d73","datavalue":{"value":"1348.70075","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$75AA1A8A-7F9E-4D5F-9B48-C6602762EE00","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"3e3d20d9beb52aaac76d5d3c8d9d243163666fac","datavalue":{"value":"10.1155/2007/65028","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$B940A081-C675-4CCC-9ED9-8017E7353A06","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1f290116400eeb72562b7c01d8e0e21b747d89a5","datavalue":{"value":{"entity-type":"item","numeric-id":636473,"id":"Q636473"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$D2965488-325F-4A38-9EBA-6630E53EC609","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"21d2ca0322a7b1e995a4ba5593803005e1cbdea6","datavalue":{"value":{"entity-type":"item","numeric-id":1931054,"id":"Q1931054"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$0514A752-1C15-4082-8F12-6AA7801BF3D1","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$AEE23822-71F0-4D6D-98DE-8DEC895AAE9A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"6849ad343791fe0b6285d464cc28b5bc6204a700","datavalue":{"value":{"time":"+2008-08-13T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q936188$3AD09465-7259-4E67-BD5D-7DF0DFF4B1DA","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"a05a95145e996e267d93920de20f61a285784527","datavalue":{"value":"Summary: The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.","type":"string"},"datatype":"string"},"type":"statement","id":"Q936188$0AAEA37E-BAA0-4A66-8AA5-C7A4296B7A3C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$A3FC0446-E2A6-4BF4-B670-5146A8B58909","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$5D684536-F294-40F7-B783-8BB3F6AA3504","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$49D1B938-E3FF-4636-B2B2-09247B0BA08F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"d6c670ac731a27c7bfd90316f3e999219e79aab5","datavalue":{"value":"93B50","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$C84B2CE2-118F-47B0-B902-06B14CA25D12","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"d0dc152a669400e30abe72d9f8c724bcc54d9bbb","datavalue":{"value":"5311260","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$8F1A4E73-0ADE-42C2-B11E-97B5F443981B","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$1B6259EB-AE79-4471-B9FF-EA9750DDA25A","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"216e3bdc03affb1410ae6733633579cb919eac5b","datavalue":{"value":"https://doi.org/10.1155/2007/65028","type":"string"},"datatype":"url"},"type":"statement","id":"Q936188$E09E283E-CDE5-425B-BC90-F5D056219BDB","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"adbd1e270a20ec5d45567792158721806dd5d9e4","datavalue":{"value":"W1978763927","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q936188$40D99A4C-1012-4AA1-A84E-7B9BFE79FF50","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"cf372e1e7e456f2b14760fc169512aaf75449985","datavalue":{"value":{"entity-type":"item","numeric-id":3682323,"id":"Q3682323"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$6CE3EDBC-142D-4762-B8F4-87FB3E3F5B6A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0a4eed389dc5c4c12f107595b66f89f583232f4c","datavalue":{"value":{"entity-type":"item","numeric-id":3682324,"id":"Q3682324"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$9A98BD93-606F-4404-B8CE-67FF123BBCD9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"071f25981d9f40acf44d601cafb8e96fd68d2be4","datavalue":{"value":{"entity-type":"item","numeric-id":3682325,"id":"Q3682325"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$BF2F7B0B-94D1-45CF-B704-0695EE3E9FCF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b9f8c8439eea12384aed4b148bea4caffbef0f59","datavalue":{"value":{"entity-type":"item","numeric-id":4004787,"id":"Q4004787"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$37FC8171-A606-4961-BA39-05C1637AA744","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f657b873bb89ffee33b39176985325ac755fc415","datavalue":{"value":{"entity-type":"item","numeric-id":4485361,"id":"Q4485361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$6110EA8A-4D7A-400E-8C14-69AD5059A6A3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8a299f3c7c6e19a64488d087b77d2cd230cf3694","datavalue":{"value":{"entity-type":"item","numeric-id":3794036,"id":"Q3794036"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$5935A9AE-75C1-42FF-BAE4-5BBDBA14EFD2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a23ebf53138551a3015afac0ef4f5ea15511eed1","datavalue":{"value":{"entity-type":"item","numeric-id":5753113,"id":"Q5753113"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$89B8E588-2BA1-40BF-A87E-CB5C1D06FC58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"345d4296f0140ba9df4d51926e45c67f80e1ad9c","datavalue":{"value":{"entity-type":"item","numeric-id":5926270,"id":"Q5926270"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$C84ED94C-9559-4273-8AC3-47A8D909E2BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b0a4e5328ad41afdec0c6c81bbc9484c16a31455","datavalue":{"value":{"entity-type":"item","numeric-id":4783986,"id":"Q4783986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$1067657C-ED6E-4FEB-90E3-6922B474C09C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fcb61cd1a948f95439ee55b4599fe16ca59aed2","datavalue":{"value":{"entity-type":"item","numeric-id":4857368,"id":"Q4857368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$32091B27-B108-4639-88B4-203989A6BA7F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"baa6fbcaf7b6acdc779bbf7625bf3ec9050c926f","datavalue":{"value":{"entity-type":"item","numeric-id":1708845,"id":"Q1708845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q936188$340DC798-7662-4BB2-94D5-24FED3A5C109","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"581816a8c1df0474846d5a8a061170601ff353a0","datavalue":{"value":{"entity-type":"item","numeric-id":5926270,"id":"Q5926270"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b21488983fa920d593502bc21a809cde66b6cee8","datavalue":{"value":{"amount":"+0.91613746","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q936188$69977528-D815-49F7-9389-35D37DA62E18","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f2da7179e789e1fdf05f980b8ecbf38905a41439","datavalue":{"value":{"entity-type":"item","numeric-id":341663,"id":"Q341663"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b86629b2e73c832f84778256afc48a17ec410828","datavalue":{"value":{"amount":"+0.91501695","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q936188$AB648ECC-08E6-45AE-9975-4DF793890B97","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e632c1a1481006d228d36859a1f1ddf8422c212c","datavalue":{"value":{"entity-type":"item","numeric-id":5324424,"id":"Q5324424"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2e4854849a9a040b25fee6b550a9004c04a50ce8","datavalue":{"value":{"amount":"+0.91317654","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q936188$1D056BFE-68F1-4BF8-9406-E1DBE706F0C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fcf874d10ccfd3cfdbea97a0c1f0921939558de0","datavalue":{"value":{"entity-type":"item","numeric-id":1707839,"id":"Q1707839"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6badf161058dc4f0227104a713bc4eef22f388ba","datavalue":{"value":{"amount":"+0.90582174","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q936188$3FEF77BD-FEB5-42DF-9E51-348444D4B0E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5d7de6df8f90aad302d4831e7ade8e0c48feb251","datavalue":{"value":{"entity-type":"item","numeric-id":3501104,"id":"Q3501104"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6f0b52227c257a7098e4a38d97c014cfc2ca631c","datavalue":{"value":{"amount":"+0.90513813","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q936188$738ECBF6-EAEB-46CC-8D5B-D7FB05564563","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Design of optimal hybrid position/force controller for a robot manipulator using neural networks","badges":[]}}}}}