{"id":"https://openalex.org/W2769982637","doi":"https://doi.org/10.1109/codit.2017.8102656","title":"On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs","display_name":"On the dynamic modelling and simulation of rigid-flexible manipulator robot using several inputs","publication_year":2017,"publication_date":"2017-04-01","ids":{"openalex":"https://openalex.org/W2769982637","doi":"https://doi.org/10.1109/codit.2017.8102656","mag":"2769982637"},"language":"en","primary_location":{"id":"doi:10.1109/codit.2017.8102656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2017.8102656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 4th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/110661","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013474046","display_name":"Sameh Zribi","orcid":null},"institutions":[{"id":"https://openalex.org/I63596082","display_name":"Tunis El Manar University","ror":"https://ror.org/029cgt552","country_code":"TN","type":"education","lineage":["https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Sameh Zribi","raw_affiliation_strings":["Research Laboratory LARA in Automatic Control, University of Tunis El Manar, Tunis, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Laboratory LARA in Automatic Control, University of Tunis El Manar, Tunis, Tunisia","institution_ids":["https://openalex.org/I63596082"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002506905","display_name":"Hatem Tlijani","orcid":null},"institutions":[{"id":"https://openalex.org/I63596082","display_name":"Tunis El Manar University","ror":"https://ror.org/029cgt552","country_code":"TN","type":"education","lineage":["https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Hatem Tlijani","raw_affiliation_strings":["Research Laboratory LARA in Automatic Control, University of Tunis El Manar, Tunis, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Laboratory LARA in Automatic Control, University of Tunis El Manar, Tunis, Tunisia","institution_ids":["https://openalex.org/I63596082"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021538185","display_name":"Jilani Knani","orcid":null},"institutions":[{"id":"https://openalex.org/I63596082","display_name":"Tunis El Manar University","ror":"https://ror.org/029cgt552","country_code":"TN","type":"education","lineage":["https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Jilani Knani","raw_affiliation_strings":["Research Laboratory LARA in Automatic Control, University of Tunis El Manar, Tunis, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Laboratory LARA in Automatic Control, University of Tunis El Manar, Tunis, Tunisia","institution_ids":["https://openalex.org/I63596082"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023299508","display_name":"Vicen\u00e7 Puig","orcid":"https://orcid.org/0000-0002-6364-6429"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Vicenc Puig","raw_affiliation_strings":["Department of Automatic Control (ESAII), University Polytechnic of Catalonia, Barcelona"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control (ESAII), University Polytechnic of Catalonia, Barcelona","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0204,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78694331,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"9","issue":null,"first_page":"0579","last_page":"0584"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980000257492065,"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":0.682547926902771},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6687740087509155},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6037995219230652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6024675369262695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5898755788803101},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5683797597885132},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5235719084739685},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39990824460983276},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3959735035896301},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24665489792823792},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.219801127910614},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15821903944015503},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1375695765018463}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.682547926902771},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6687740087509155},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6037995219230652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6024675369262695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5898755788803101},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5683797597885132},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5235719084739685},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39990824460983276},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3959735035896301},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24665489792823792},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.219801127910614},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15821903944015503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1375695765018463},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/codit.2017.8102656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2017.8102656","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 4th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/110661","is_oa":false,"landing_page_url":"https://hdl.handle.net/2117/110661","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},{"id":"pmh:oai:www.recercat.cat:2072/301182","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/110661","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/submittedVersion"}],"best_oa_location":{"id":"pmh:oai:www.recercat.cat:2072/301182","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/110661","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/submittedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1487158671","https://openalex.org/W1526586213","https://openalex.org/W1575255016","https://openalex.org/W1999914576","https://openalex.org/W2000392488","https://openalex.org/W2039712388","https://openalex.org/W2093385055","https://openalex.org/W2095895707","https://openalex.org/W2113265921","https://openalex.org/W2137670671","https://openalex.org/W2143713365","https://openalex.org/W2181096178","https://openalex.org/W2210313168","https://openalex.org/W2465682726","https://openalex.org/W2563924401","https://openalex.org/W4233608862","https://openalex.org/W4239809743","https://openalex.org/W4240172577","https://openalex.org/W4246520131","https://openalex.org/W6634478946"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W2361092061","https://openalex.org/W2319775965","https://openalex.org/W2357314690","https://openalex.org/W2191886813","https://openalex.org/W1986317414","https://openalex.org/W2163394011","https://openalex.org/W2795976185","https://openalex.org/W2353606679"],"abstract_inverted_index":{"The":[0],"purpose":[1],"of":[2,11,31,77,81],"this":[3,58],"paper":[4],"is":[5,45,64],"to":[6,27],"develop":[7],"a":[8,12,17],"dynamic":[9,79],"model":[10,80],"rigid-flexible":[13],"manipulator":[14],"robot":[15],"with":[16],"load":[18],"on":[19],"its":[20],"endpoint":[21],"using":[22],"Euler-Lagrange":[23],"formulation.":[24],"In":[25],"order":[26],"test":[28],"the":[29,32,51,61,65,69,75,78,82],"performance":[30],"studied":[33,83],"system,":[34],"several":[35,86],"mathematical":[36],"functions":[37],"are":[38],"used":[39],"as":[40],"motion":[41],"profile.":[42],"It":[43],"choice":[44],"very":[46],"important":[47,63],"because":[48],"it":[49],"affects":[50],"robot's":[52],"performance.":[53],"Different":[54],"factors":[55],"intervene":[56],"in":[57],"choice.":[59],"However,":[60],"most":[62],"torque's":[66],"continuity":[67],"and":[68],"movement's":[70],"smoothness.":[71],"Numerical":[72],"simulations":[73],"show":[74],"robustness":[76],"system":[84],"for":[85],"motions":[87],"profiles.":[88]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}