{"id":"https://openalex.org/W3194021489","doi":"https://doi.org/10.1109/aim46487.2021.9517633","title":"Investigation of Torque Controlled Robots with Flexible Links Using a Flexible Multibody Simulation","display_name":"Investigation of Torque Controlled Robots with Flexible Links Using a Flexible Multibody Simulation","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3194021489","doi":"https://doi.org/10.1109/aim46487.2021.9517633","mag":"3194021489"},"language":"en","primary_location":{"id":"doi:10.1109/aim46487.2021.9517633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5019430458","display_name":"Tom Prautzsch","orcid":null},"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":"Tom Prautzsch","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","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":false,"raw_author_name":"Tobias F. C. Berninger","raw_affiliation_strings":["Chair of Applied Mechanics, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of 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, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Applied Mechanics, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019430458"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.1373,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.44205609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"638","last_page":"644"},"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":0.9994999766349792,"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":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983999729156494,"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":0.9959999918937683,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7882492542266846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7450125217437744},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6128899455070496},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5390147566795349},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5368732810020447},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48664578795433044},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.46113526821136475},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44507914781570435},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.441619873046875},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.42144906520843506},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36699485778808594},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15325072407722473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12320595979690552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10042160749435425},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0823911726474762}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7882492542266846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7450125217437744},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6128899455070496},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5390147566795349},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5368732810020447},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48664578795433044},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.46113526821136475},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44507914781570435},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.441619873046875},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.42144906520843506},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36699485778808594},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15325072407722473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12320595979690552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10042160749435425},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0823911726474762},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim46487.2021.9517633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W189803804","https://openalex.org/W1523417157","https://openalex.org/W1855838478","https://openalex.org/W1974653552","https://openalex.org/W2001490911","https://openalex.org/W2075053655","https://openalex.org/W2104181254","https://openalex.org/W2118357359","https://openalex.org/W2141099300","https://openalex.org/W2150024155","https://openalex.org/W2914695434","https://openalex.org/W2980454312","https://openalex.org/W3003488604","https://openalex.org/W3090845372","https://openalex.org/W3111482008","https://openalex.org/W4211093725"],"related_works":["https://openalex.org/W2376802003","https://openalex.org/W2054002217","https://openalex.org/W2179388855","https://openalex.org/W1984730251","https://openalex.org/W2003788495","https://openalex.org/W3143779693","https://openalex.org/W285875295","https://openalex.org/W2626808643","https://openalex.org/W2004064826","https://openalex.org/W2509409558"],"abstract_inverted_index":{"The":[0,54,76],"past":[1],"two":[2],"decades":[3],"have":[4,44],"brought":[5],"forward":[6],"a":[7,81,102,106],"new":[8],"class":[9],"of":[10,50,56,64,70],"robotic":[11],"arms":[12],"designed":[13,46],"for":[14,100],"close":[15],"human-robot":[16],"cooperation.":[17],"Their":[18],"lighter":[19],"design":[20],"has":[21,126],"greater":[22],"structural":[23,115],"flexibilities":[24,66],"compared":[25],"to":[26,32,47,60,133],"classical":[27],"industrial":[28],"robots,":[29],"which":[30],"leads":[31],"undesired":[33],"vibrations":[34,116],"at":[35],"the":[36,62,68,90,110,118,122,134],"tool":[37],"center":[38],"point.":[39],"Joint":[40],"torque":[41,74,91,111,123],"feedback":[42,124],"controllers":[43,112],"been":[45],"counteract":[48],"effects":[49],"robot":[51,93,108],"joint":[52,119,135],"flexibility.":[53],"goal":[55],"this":[57],"project":[58],"is":[59,78,86,97],"study":[61,77],"impact":[63],"link":[65,104],"on":[67],"accuracy":[69],"robots":[71],"with":[72,89],"such":[73],"controllers.":[75],"performed":[79],"using":[80],"flexible":[82],"multibody":[83],"simulation":[84],"that":[85],"experimentally":[87],"validated":[88],"controlled":[92],"Franka":[94],"Panda.":[95],"It":[96],"shown":[98],"that,":[99],"both":[101],"single":[103],"and":[105],"6-axis":[107],"model,":[109],"can":[113],"dampen":[114],"within":[117],"space":[120,136],"if":[121],"loop":[125],"high":[127],"enough":[128],"bandwidth.":[129],"However,":[130],"modes":[131],"orthogonal":[132],"cannot":[137],"be":[138],"dampened.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}