{"id":"https://openalex.org/W2135349624","doi":"https://doi.org/10.1109/robot.1989.100217","title":"A general dynamic model of flexible robot arms for control","display_name":"A general dynamic model of flexible robot arms for control","publication_year":2003,"publication_date":"2003-01-07","ids":{"openalex":"https://openalex.org/W2135349624","doi":"https://doi.org/10.1109/robot.1989.100217","mag":"2135349624"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1989.100217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1989.100217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings, 1989 International Conference on Robotics and Automation","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/A5109880855","display_name":"Xingye Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"X. Ding","raw_affiliation_strings":["Department of Systems Science and Mathematics, Washington University, Saint Louis, MO, USA","Dept. of Syst. Sci. & Math, Washington Univ., St. Louis, MO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Science and Mathematics, Washington University, Saint Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]},{"raw_affiliation_string":"Dept. of Syst. Sci. & Math, Washington Univ., St. Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108439517","display_name":"T.J. Tarn","orcid":null},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T.J. Tarn","raw_affiliation_strings":["Department of Systems Science and Mathematics, Washington University, Saint Louis, MO, USA","Dept. of Syst. Sci. & Math, Washington Univ., St. Louis, MO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Science and Mathematics, Washington University, Saint Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]},{"raw_affiliation_string":"Dept. of Syst. Sci. & Math, Washington Univ., St. Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113467864","display_name":"A.K. Bejczy","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.K. Bejczy","raw_affiliation_strings":["California Institute of Technology Jet propulsion Laboratory, Pasadena, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology Jet propulsion Laboratory, Pasadena, United States","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8191,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80443402,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1678","last_page":"1683"},"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":1.0,"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":1.0,"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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9977999925613403,"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":0.994700014591217,"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/flexibility","display_name":"Flexibility (engineering)","score":0.6142306327819824},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6074494123458862},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6074426174163818},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5533462166786194},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5466762185096741},{"id":"https://openalex.org/keywords/partial-differential-equation","display_name":"Partial differential equation","score":0.518949031829834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5126509070396423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5051634907722473},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.4826520085334778},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.4371792674064636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3969469964504242},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39214086532592773},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3803688883781433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35765671730041504},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35059356689453125},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.251189649105072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23993653059005737},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14947035908699036}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6142306327819824},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6074494123458862},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6074426174163818},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5533462166786194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5466762185096741},{"id":"https://openalex.org/C93779851","wikidata":"https://www.wikidata.org/wiki/Q271977","display_name":"Partial differential equation","level":2,"score":0.518949031829834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5126509070396423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5051634907722473},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.4826520085334778},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.4371792674064636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3969469964504242},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39214086532592773},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3803688883781433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35765671730041504},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35059356689453125},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.251189649105072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23993653059005737},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14947035908699036},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1989.100217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1989.100217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings, 1989 International Conference on Robotics and Automation","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/W623047097","https://openalex.org/W843740146","https://openalex.org/W1503257335","https://openalex.org/W1535290418","https://openalex.org/W1552527143","https://openalex.org/W1582353822","https://openalex.org/W1596607790","https://openalex.org/W1601993488","https://openalex.org/W1928365220","https://openalex.org/W1970412008","https://openalex.org/W1995090200","https://openalex.org/W2080992175","https://openalex.org/W2100341364","https://openalex.org/W2132686771","https://openalex.org/W2148896337","https://openalex.org/W2160609532","https://openalex.org/W2172101352","https://openalex.org/W2281697697","https://openalex.org/W6623443808","https://openalex.org/W6635736902"],"related_works":["https://openalex.org/W4236696095","https://openalex.org/W3143779693","https://openalex.org/W2626808643","https://openalex.org/W2004064826","https://openalex.org/W3103727510","https://openalex.org/W97045569","https://openalex.org/W1527069879","https://openalex.org/W2946179579","https://openalex.org/W2348021072","https://openalex.org/W2209682422"],"abstract_inverted_index":{"Hamilton's":[0],"principle":[1],"is":[2,49,77],"used":[3],"to":[4,47],"derive":[5],"the":[6,30,40,90,93],"dynamic":[7,19,31,57],"model":[8,20,41,52],"for":[9,83,89],"a":[10,23,65],"large":[11],"class":[12],"of":[13,22,25,39,92],"flexible":[14],"robot":[15],"arms.":[16],"The":[17],"resultant":[18],"consists":[21],"system":[24,58,67],"partial":[26],"differential-integral":[27],"equations":[28],"and":[29,44,59],"boundary":[32],"conditions":[33],"associated":[34],"with":[35],"it.":[36],"Some":[37],"properties":[38],"are":[42],"observed":[43],"its":[45],"application":[46],"control":[48,84],"discussed.":[50],"This":[51,79],"represents":[53],"an":[54],"infinite-dimensional":[55],"nonlinear":[56],"yet":[60],"can":[61],"be":[62,70],"turned":[63],"into":[64],"finite-dimensional":[66],"that":[68],"could":[69],"obtained":[71],"by":[72],"modal":[73],"expansion,":[74],"if":[75],"it":[76],"desired.":[78],"provides":[80],"more":[81],"flexibility":[82],"purposes":[85],"as":[86,88],"well":[87],"analysis":[91],"system.<":[94],"<ETX":[95],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[96],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">&gt;</ETX>":[97]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
