{"id":"https://openalex.org/W2980454312","doi":"https://doi.org/10.1109/aim.2019.8868406","title":"Evaluation of an External Vibration Damping Approach for Robot Manipulators Using a Flexible Multi Body Simulation","display_name":"Evaluation of an External Vibration Damping Approach for Robot Manipulators Using a Flexible Multi Body Simulation","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2980454312","doi":"https://doi.org/10.1109/aim.2019.8868406","mag":"2980454312"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2019.8868406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","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/A5001876642","display_name":"Tobias F. C. Berninger","orcid":"https://orcid.org/0000-0001-8074-770X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Tobias F. C. Berninger","raw_affiliation_strings":["Chair of Applied Mechanics, TU Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, TU Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067485194","display_name":"Marvin A. Ochsenius","orcid":"https://orcid.org/0000-0003-0361-8159"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marvin A. Ochsenius","raw_affiliation_strings":["Chair of Applied Mechanics, TU Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, TU Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041955731","display_name":"Daniel J. Rixen","orcid":"https://orcid.org/0000-0002-2303-4292"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel J. Rixen","raw_affiliation_strings":["Chair of Applied Mechanics, TU Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, TU Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001876642"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.8316,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.74221108,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1145","last_page":"1150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9997000098228455,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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":0.9994000196456909,"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":0.7053499221801758},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.6831953525543213},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6138966083526611},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6054484844207764},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5927094221115112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5810521245002747},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5055084228515625},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.44911256432533264},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44167253375053406},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.42840784788131714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3046324849128723},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21300041675567627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1149584949016571},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07323905825614929}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7053499221801758},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.6831953525543213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6138966083526611},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6054484844207764},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5927094221115112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5810521245002747},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5055084228515625},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.44911256432533264},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44167253375053406},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.42840784788131714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3046324849128723},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21300041675567627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1149584949016571},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07323905825614929},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2019.8868406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2019.8868406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1524062","is_oa":false,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1524062","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1516044556","https://openalex.org/W1523417157","https://openalex.org/W1560270123","https://openalex.org/W1855838478","https://openalex.org/W1974653552","https://openalex.org/W1984158197","https://openalex.org/W2007533072","https://openalex.org/W2022197757","https://openalex.org/W2033261021","https://openalex.org/W2096742720","https://openalex.org/W2098982871","https://openalex.org/W2099328873","https://openalex.org/W2103610162","https://openalex.org/W2121311951","https://openalex.org/W2128504739","https://openalex.org/W2158843638","https://openalex.org/W2164567151","https://openalex.org/W2791313415","https://openalex.org/W2955446368","https://openalex.org/W3150377239","https://openalex.org/W4243385754","https://openalex.org/W6674842637","https://openalex.org/W6764742461","https://openalex.org/W7070588043"],"related_works":["https://openalex.org/W2565094479","https://openalex.org/W2390829436","https://openalex.org/W1989791859","https://openalex.org/W602859758","https://openalex.org/W2006439817","https://openalex.org/W1971289376","https://openalex.org/W2379101322","https://openalex.org/W1992553864","https://openalex.org/W2776207444","https://openalex.org/W2726447019"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,49,77],"achieve":[3],"increasingly":[4],"high":[5,42],"path":[6,88],"accuracy":[7],"of":[8,14,29,90,96],"robot":[9,31],"manipulators":[10],"the":[11,15,27,30,33,65,78,86,91,97],"structural":[12],"dynamics":[13],"links,":[16],"joints":[17],"and":[18,73],"gears":[19],"become":[20],"progressively":[21],"more":[22],"relevant.":[23],"To":[24],"accurately":[25],"control":[26,37,66],"TCP":[28],"using":[32],"joint":[34,99],"motors":[35],"modern":[36],"techniques":[38],"usually":[39],"rely":[40],"on":[41],"fidelity":[43],"models,":[44],"which":[45,63],"are":[46],"notoriously":[47],"hard":[48],"acquire":[50],"for":[51],"real":[52],"manipulator":[53],"systems.":[54],"This":[55],"paper":[56],"evaluates":[57],"an":[58],"external":[59],"vibration":[60,83],"damping":[61],"approach":[62],"simplifies":[64],"problem":[67],"by":[68],"adding":[69],"a":[70],"force":[71],"input":[72],"acceleration":[74],"feedback":[75],"directly":[76],"robot's":[79,98],"TCP.":[80],"The":[81],"resulting":[82],"controller":[84],"reduces":[85],"dynamic":[87],"error":[89],"system":[92],"while":[93],"working":[94],"independently":[95],"controller.":[100]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
