{"id":"https://openalex.org/W2111545750","doi":"https://doi.org/10.1109/icarcv.2010.5707885","title":"Descriptor modeling and response analysis of two rigid-flexible cooperative arms","display_name":"Descriptor modeling and response analysis of two rigid-flexible cooperative arms","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2111545750","doi":"https://doi.org/10.1109/icarcv.2010.5707885","mag":"2111545750"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2010.5707885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2010.5707885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th International Conference on Control Automation Robotics &amp; Vision","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/A5103250553","display_name":"Ehsan Samiei","orcid":"https://orcid.org/0000-0002-6158-5423"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"E. Samiei","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology\uc2a0, Tehran, Iran","Department of Electrical Engineering, Amirkabir University of Technology , Tehran, Iran#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology\uc2a0, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology , Tehran, Iran#TAB#","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027273282","display_name":"Masoud Shafiee","orcid":"https://orcid.org/0000-0002-1290-2226"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"M. Shafiee","raw_affiliation_strings":["Department of Electrical Engineering, Amirkabir University of Technology\uc2a0, Tehran, Iran","Department of Electrical Engineering, Amirkabir University of Technology , Tehran, Iran#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology\uc2a0, Tehran, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Department of Electrical Engineering, Amirkabir University of Technology , Tehran, Iran#TAB#","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103250553"],"corresponding_institution_ids":["https://openalex.org/I158248296"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.13728848,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"149","last_page":"156"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9957000017166138,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9911999702453613,"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/workspace","display_name":"Workspace","score":0.7666420340538025},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6359211206436157},{"id":"https://openalex.org/keywords/algebraic-number","display_name":"Algebraic number","score":0.57501620054245},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5647319555282593},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.5362149477005005},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5325936675071716},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5287408828735352},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.5035235285758972},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5014100074768066},{"id":"https://openalex.org/keywords/algebraic-equation","display_name":"Algebraic equation","score":0.4590446352958679},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.4495030641555786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3734883666038513},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29369044303894043},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26124662160873413},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17484763264656067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14858916401863098},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12406677007675171},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11660555005073547},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.105610191822052}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7666420340538025},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6359211206436157},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.57501620054245},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5647319555282593},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.5362149477005005},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5325936675071716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5287408828735352},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.5035235285758972},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5014100074768066},{"id":"https://openalex.org/C23917780","wikidata":"https://www.wikidata.org/wiki/Q50698","display_name":"Algebraic equation","level":3,"score":0.4590446352958679},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.4495030641555786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3734883666038513},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29369044303894043},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26124662160873413},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17484763264656067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14858916401863098},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12406677007675171},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11660555005073547},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.105610191822052},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2010.5707885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2010.5707885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th International Conference on Control Automation Robotics &amp; Vision","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1558848708","https://openalex.org/W1571436240","https://openalex.org/W1607671889","https://openalex.org/W1992881485","https://openalex.org/W2018474771","https://openalex.org/W2044483173","https://openalex.org/W2076650116","https://openalex.org/W2081532446","https://openalex.org/W2088397729","https://openalex.org/W2104605964","https://openalex.org/W2106574935","https://openalex.org/W2116218946","https://openalex.org/W2133939715","https://openalex.org/W2138992357","https://openalex.org/W2164448999","https://openalex.org/W2321315035","https://openalex.org/W3151542085","https://openalex.org/W6636084435","https://openalex.org/W6680011999","https://openalex.org/W6684024378"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W1502055243","https://openalex.org/W161031285","https://openalex.org/W2617546748","https://openalex.org/W319507493","https://openalex.org/W1975988471"],"abstract_inverted_index":{"In":[0,97],"this":[1,98],"paper,":[2,99],"a":[3,8,16,20,26,36,100,104,149,186,191],"descriptor":[4,152,171],"dynamic":[5,50,101,151],"model":[6,102,153],"for":[7,103],"two-cooperative":[9,192],"rigid-flexible":[10,105],"link":[11,106],"manipulators":[12,30,139],"system":[13,27,61,131,156,165,172,178],"which":[14,108,157],"holds":[15],"rigid":[17],"object":[18],"in":[19,59,67,86,111],"horizontal":[21],"workspace":[22],"is":[23,109,122,158,166,179],"derived.":[24,133],"When":[25],"of":[28,43,73,94,129,138,154,162,176],"multi":[29],"grasps":[31],"an":[32],"object,":[33],"they":[34],"form":[35,93],"closed":[37,135],"chain":[38,136],"that":[39],"its":[40],"equations":[41,128],"consist":[42],"some":[44,72],"algebraic":[45,53,75],"constraints":[46,54,76,127,141],"as":[47,49],"well":[48],"equations.":[51],"These":[52],"can":[55],"cause":[56],"impulsive":[57],"behaviors":[58],"the":[60,91,95,125,130,145,155,159,163,174,177,183],"response":[62],"and":[63,69,82,118,140,148],"must":[64,83],"be":[65,84],"considered":[66],"modeling":[68],"control.":[70],"Moreover,":[71],"these":[74],"are":[77,132,142],"dependent":[78],"to":[79,88,90],"each":[80],"other":[81],"neglected":[85],"order":[87],"reach":[89],"minimal":[92],"model.":[96],"manipulator":[107,194],"derived":[110],"many":[112],"literatures":[113],"based":[114],"on":[115,190],"Lagrange":[116],"equation":[117],"assumed":[119],"mode":[120],"method":[121],"considered.":[123],"Then,":[124],"Minimal":[126],"The":[134],"motion":[137],"linearized":[143,150],"around":[144],"rigid-body":[146],"motion,":[147],"absolute":[160],"description":[161],"whole":[164],"obtained.":[167],"Finally,":[168],"by":[169],"using":[170],"theory,":[173],"behavior":[175],"investigated.":[180],"To":[181],"evaluate":[182],"proposed":[184],"method,":[185],"simulation":[187],"was":[188],"performed":[189],"flexible-link":[193],"system.":[195]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
