{"id":"https://openalex.org/W4220835726","doi":"https://doi.org/10.1109/amc51637.2022.9729323","title":"Improving the robustness in motion planning of flexible systems through structural modification: a case study","display_name":"Improving the robustness in motion planning of flexible systems through structural modification: a case study","publication_year":2022,"publication_date":"2022-02-18","ids":{"openalex":"https://openalex.org/W4220835726","doi":"https://doi.org/10.1109/amc51637.2022.9729323"},"language":"en","primary_location":{"id":"doi:10.1109/amc51637.2022.9729323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5048282687","display_name":"Paolo Boscariol","orcid":"https://orcid.org/0000-0002-8032-5272"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paolo Boscariol","raw_affiliation_strings":["Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","degli Studi di Padova, Vicenza, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","institution_ids":[]},{"raw_affiliation_string":"degli Studi di Padova, Vicenza, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053349874","display_name":"Dario Richiedei","orcid":"https://orcid.org/0000-0003-1180-3004"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dario Richiedei","raw_affiliation_strings":["Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","degli Studi di Padova, Vicenza, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","institution_ids":[]},{"raw_affiliation_string":"degli Studi di Padova, Vicenza, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019977599","display_name":"Iacopo Tamellin","orcid":"https://orcid.org/0000-0003-0333-4420"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iacopo Tamellin","raw_affiliation_strings":["Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","degli Studi di Padova, Vicenza, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","institution_ids":[]},{"raw_affiliation_string":"degli Studi di Padova, Vicenza, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002498359","display_name":"Alberto Trevisani","orcid":"https://orcid.org/0000-0002-2868-3128"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alberto Trevisani","raw_affiliation_strings":["Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","degli Studi di Padova, Vicenza, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Università degli Studi di Padova,Dipartimento di Tecnica e Gestione dei sistemi Industriali,Vicenza,Italy,36100","institution_ids":[]},{"raw_affiliation_string":"degli Studi di Padova, Vicenza, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02028668,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"138","last_page":"143"},"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":0.9998999834060669,"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":0.9998999834060669,"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":0.9972000122070312,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/robustness","display_name":"Robustness (evolution)","score":0.8410478830337524},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6803445816040039},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6169085502624512},{"id":"https://openalex.org/keywords/input-shaping","display_name":"Input shaping","score":0.6119863390922546},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5938494205474854},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5232309699058533},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.478767067193985},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.4542269706726074},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.44490861892700195},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43134605884552},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40546301007270813},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3230895400047302},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.29134202003479004},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1584126055240631},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1564878225326538},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14964106678962708},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13293388485908508},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09578931331634521}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8410478830337524},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6803445816040039},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6169085502624512},{"id":"https://openalex.org/C2778512855","wikidata":"https://www.wikidata.org/wiki/Q6036808","display_name":"Input shaping","level":4,"score":0.6119863390922546},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5938494205474854},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5232309699058533},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.478767067193985},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.4542269706726074},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.44490861892700195},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43134605884552},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40546301007270813},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3230895400047302},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.29134202003479004},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1584126055240631},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1564878225326538},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14964106678962708},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13293388485908508},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09578931331634521},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/amc51637.2022.9729323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc51637.2022.9729323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 17th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3439603","is_oa":false,"landing_page_url":"http://hdl.handle.net/11577/3439603","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1967482590","https://openalex.org/W1999384747","https://openalex.org/W2001981441","https://openalex.org/W2003407362","https://openalex.org/W2039317814","https://openalex.org/W2086897591","https://openalex.org/W2090108740","https://openalex.org/W2101270756","https://openalex.org/W2106846875","https://openalex.org/W2171769381","https://openalex.org/W2765945009","https://openalex.org/W2791991800","https://openalex.org/W2801475537","https://openalex.org/W2960939131","https://openalex.org/W3157360022","https://openalex.org/W3165910745","https://openalex.org/W6751160297","https://openalex.org/W6794176216"],"related_works":["https://openalex.org/W2611756877","https://openalex.org/W2166104124","https://openalex.org/W2338748832","https://openalex.org/W2373978365","https://openalex.org/W2265515049","https://openalex.org/W2743256257","https://openalex.org/W1981496284","https://openalex.org/W2076576946","https://openalex.org/W4224244710","https://openalex.org/W4381060177"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,44,86,89,101],"technique":[4,35],"aimed":[5],"at":[6],"improving":[7,120],"the":[8,11,19,34,38,42,53,56,68,77,111,114,121,131,134],"suppression":[9],"of":[10,14,22,26,33,41,55,92,113,123],"residual":[12,78],"vibration":[13],"uncertain":[15],"flexible":[16],"systems":[17],"by":[18],"concurrent":[20],"application":[21],"structural":[23,46],"modification":[24,47],"and":[25,133],"model-based":[27],"motion":[28,65,124],"planning":[29,66,125],"methods.":[30],"The":[31,80,106],"novelty":[32],"relies":[36],"on":[37],"first":[39],"stage":[40],"method:":[43],"robust":[45],"strategy":[48],"is":[49,73,83,98,117],"employed":[50,74],"to":[51,60,75,85],"enhance":[52],"robustness":[54,112],"system":[57],"natural":[58,115],"frequencies":[59,116],"unmeasured":[61],"parametric":[62],"deviations.":[63],"Then,":[64],"through":[67],"well-known":[69],"input":[70],"shaping":[71],"techniques":[72],"suppress":[76],"vibrations.":[79],"proposed":[81],"method":[82],"applied":[84],"numerical":[87],"test-case:":[88],"four":[90],"degrees":[91],"freedom":[93],"pendulum":[94],"whose":[95],"tip-end":[96],"mass":[97],"uncertain,":[99],"representing":[100],"payload":[102],"that":[103,109],"might":[104],"vary.":[105],"results":[107],"show":[108],"increasing":[110],"beneficial":[118],"in":[119],"performances":[122],"even":[126],"if":[127],"large":[128],"mismatches":[129],"between":[130],"assumed":[132],"actual":[135],"plant":[136],"occur.":[137]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}