{"id":"https://openalex.org/W2117562982","doi":"https://doi.org/10.1109/robot.2006.1641981","title":"Port-based modelling of manipulators with flexible links","display_name":"Port-based modelling of manipulators with flexible links","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2117562982","doi":"https://doi.org/10.1109/robot.2006.1641981","mag":"2117562982"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641981","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ris.utwente.nl/ws/files/5487058/Macchelli06port.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049795832","display_name":"Alessandro Macchelli","orcid":"https://orcid.org/0000-0003-2258-9699"},"institutions":[{"id":"https://openalex.org/I4210097606","display_name":"GNA University","ror":"https://ror.org/00cy7e479","country_code":"IN","type":"education","lineage":["https://openalex.org/I4210097606"]},{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IN","IT"],"is_corresponding":false,"raw_author_name":"A. Macchelli","raw_affiliation_strings":["University of Bologna, Italy","CASY-DEIS, Bologna Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"CASY-DEIS, Bologna Univ","institution_ids":["https://openalex.org/I4210097606","https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"S. Stramigioli","raw_affiliation_strings":["Department of Electrical Engineering, University of Twente, Netherlands","[Department of Electrical Engineering, University of Twente, Netherlands]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Twente, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"[Department of Electrical Engineering, University of Twente, Netherlands]","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082136401","display_name":"Claudio Melchiorri","orcid":"https://orcid.org/0000-0002-8475-6782"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C. Melchiorri","raw_affiliation_strings":["CASY-DEIS, University of Bologna, Italy","CASY-DEIS, University of Bologna, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CASY-DEIS, University of Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"CASY-DEIS, University of Bologna, Italy#TAB#","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6747,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.81442132,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"1886","last_page":"1891"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical 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/T12772","display_name":"Control and Stability of Dynamical 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/T12763","display_name":"ATP Synthase and ATPases Research","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.7014288902282715},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.65582674741745},{"id":"https://openalex.org/keywords/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.6354941725730896},{"id":"https://openalex.org/keywords/port","display_name":"Port (circuit theory)","score":0.5491459965705872},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.48762503266334534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48345956206321716},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4628177881240845},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3965083062648773},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3109566867351532},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.26167792081832886},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24779343605041504},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.226229727268219},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1294611692428589},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.10885655879974365},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08509066700935364},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07858070731163025}],"concepts":[{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.7014288902282715},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.65582674741745},{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.6354941725730896},{"id":"https://openalex.org/C32802771","wikidata":"https://www.wikidata.org/wiki/Q2443617","display_name":"Port (circuit theory)","level":2,"score":0.5491459965705872},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.48762503266334534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48345956206321716},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4628177881240845},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3965083062648773},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3109566867351532},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.26167792081832886},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24779343605041504},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.226229727268219},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1294611692428589},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.10885655879974365},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08509066700935364},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07858070731163025},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robot.2006.1641981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641981","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:openaire/ee4a53cb-44f1-4fdc-8c2b-3063919d0664","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/ee4a53cb-44f1-4fdc-8c2b-3063919d0664","pdf_url":"https://ris.utwente.nl/ws/files/5487058/Macchelli06port.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Macchelli, A, Stramigioli, S & Melchiorri, C 2006, Port-based modelling of manipulators with flexible links. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Proceedings IEEE International Conference on Robotics and Automation, ICRA, vol. 2006, IEEE, pp. 1886-1891, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, Florida, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641981","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.881.1038","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.881.1038","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://doc.utwente.nl/62283/1/Macchelli06port.pdf","raw_type":"text"},{"id":"pmh:oai:cris.unibo.it:11585/38562","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/38562","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:ris.utwente.nl:publications/ee4a53cb-44f1-4fdc-8c2b-3063919d0664","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:openaire/ee4a53cb-44f1-4fdc-8c2b-3063919d0664","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/ee4a53cb-44f1-4fdc-8c2b-3063919d0664","pdf_url":"https://ris.utwente.nl/ws/files/5487058/Macchelli06port.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Macchelli, A, Stramigioli, S & Melchiorri, C 2006, Port-based modelling of manipulators with flexible links. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Proceedings IEEE International Conference on Robotics and Automation, ICRA, vol. 2006, IEEE, pp. 1886-1891, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, Florida, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641981","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2117562982.pdf","grobid_xml":"https://content.openalex.org/works/W2117562982.grobid-xml"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W1547215941","https://openalex.org/W1553823556","https://openalex.org/W1566463023","https://openalex.org/W1965265565","https://openalex.org/W2001290675","https://openalex.org/W2043042987","https://openalex.org/W2084853999","https://openalex.org/W2103470087","https://openalex.org/W2141138890","https://openalex.org/W2141652679","https://openalex.org/W2142799460","https://openalex.org/W2170448165","https://openalex.org/W6681256542"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,13,16,41,54,64,67,84,92,102,109,112,118,122],"port":[4,42,57,79],"Hamiltonian":[5,43,80,119],"model":[6,75,113],"of":[7,15,19,22,66,70,83,86,96,108,124],"a":[8,20,50,77,87],"manipulator":[9],"is":[10,47,59,76],"presented":[11],"as":[12],"result":[14],"power-conserving":[17],"interconnection":[18,46],"set":[21],"main":[23],"components":[24],"(rigid":[25],"bodies,":[26],"flexible":[27,36,103],"links":[28,37],"and":[29,35,95,115],"kinematic":[30],"pairs).":[31],"Since":[32],"rigid":[33,93],"bodies":[34,94],"are":[38,63],"described":[39],"within":[40],"formalism,":[44],"their":[45],"possible":[48],"once":[49],"proper":[51],"relation":[52],"between":[53],"power":[55],"conjugated":[56],"variables":[58],"deduced.":[60],"These":[61],"relations":[62],"analogous":[65],"Kirchoff":[68],"laws":[69],"circuit":[71],"theory.":[72],"The":[73,105],"final":[74],"mixed":[78],"system":[81],"because":[82],"presence":[85],"finite":[88],"dimensional":[89,99],"subsystem":[90],"modelling":[91],"an":[97],"infinite":[98],"one":[100],"describing":[101],"links.":[104],"intrinsic":[106],"modularity":[107],"approach":[110],"simplifies":[111],"deduction":[114],"simulation,":[116],"while":[117],"description":[120],"suggests":[121],"development":[123],"energy-based":[125],"controllers":[126]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
