{"id":"https://openalex.org/W2172068802","doi":"https://doi.org/10.1109/robot.1990.126073","title":"Exact modeling of the flexible slewing link","display_name":"Exact modeling of the flexible slewing link","publication_year":2002,"publication_date":"2002-12-04","ids":{"openalex":"https://openalex.org/W2172068802","doi":"https://doi.org/10.1109/robot.1990.126073","mag":"2172068802"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1990.126073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., IEEE International Conference on Robotics and Automation","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/A5027838691","display_name":"F. Bellezza","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F. Bellezza","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053599061","display_name":"Leonardo Lanari","orcid":"https://orcid.org/0000-0002-8546-1783"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Lanari","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049225259","display_name":"Giovanni Ulivi","orcid":"https://orcid.org/0000-0001-6471-3761"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Ulivi","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":151,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"734","last_page":"739"},"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":0.9987000226974487,"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/T11602","display_name":"Magnetic Bearings and Levitation Dynamics","score":0.9958000183105469,"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/payload","display_name":"Payload (computing)","score":0.6960933208465576},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.661126971244812},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.5714064836502075},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5477634072303772},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.523891806602478},{"id":"https://openalex.org/keywords/eigenfunction","display_name":"Eigenfunction","score":0.519866943359375},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.468839555978775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46605098247528076},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.42741212248802185},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.42071324586868286},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41202688217163086},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3906528949737549},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.35781556367874146},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3526105284690857},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3363736569881439},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28872889280319214},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2287253439426422},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.21387913823127747},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16321903467178345},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.11514991521835327},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.10523027181625366}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6960933208465576},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.661126971244812},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.5714064836502075},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5477634072303772},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.523891806602478},{"id":"https://openalex.org/C128803854","wikidata":"https://www.wikidata.org/wiki/Q1307821","display_name":"Eigenfunction","level":3,"score":0.519866943359375},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.468839555978775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46605098247528076},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.42741212248802185},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.42071324586868286},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41202688217163086},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3906528949737549},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.35781556367874146},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3526105284690857},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3363736569881439},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28872889280319214},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2287253439426422},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.21387913823127747},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16321903467178345},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.11514991521835327},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.10523027181625366},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.1990.126073","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1990.126073","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings., IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/470558","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/470558","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1519991378","https://openalex.org/W1535290418","https://openalex.org/W2038472106","https://openalex.org/W2098314991","https://openalex.org/W2103610162","https://openalex.org/W2114478434","https://openalex.org/W2130459513","https://openalex.org/W2136407873","https://openalex.org/W2172101352","https://openalex.org/W2978976912","https://openalex.org/W3021679470","https://openalex.org/W6679331727"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W2245403906","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4286382504","https://openalex.org/W2979675132","https://openalex.org/W2393344178","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W20648474"],"abstract_inverted_index":{"The":[0,47,73],"exact":[1],"eigenfunctions":[2],"for":[3],"the":[4,19,25,37,43,50,57,66,69,92],"slewing":[5,45],"link":[6],"of":[7,36,49,59,68,85],"a":[8,15,22,83],"robot":[9],"are":[10,79],"found,":[11,81],"taking":[12],"into":[13],"account":[14],"rotating":[16,71],"inertia":[17],"at":[18,24],"base":[20],"and":[21,34,82],"payload":[23],"tip.":[26],"These":[27],"derive":[28],"from":[29],"two":[30,61,74],"equivalent":[31],"formulations":[32],"(pseudoclamped":[33],"pseudopinned)":[35],"boundary":[38],"value":[39],"problem":[40],"relative":[41],"to":[42,55],"flexible":[44],"beam.":[46],"exactness":[48],"solution":[51],"makes":[52],"it":[53],"possible":[54],"prove":[56],"equivalence":[58],"these":[60],"approaches,":[62],"which":[63],"differ":[64],"in":[65],"choice":[67],"noninertial":[70],"frame.":[72],"related":[75],"dynamic":[76],"linear":[77],"models":[78],"then":[80],"change":[84],"coordinates":[86],"is":[87],"given.":[88],"Experimental":[89],"measurements":[90],"validate":[91],"theoretical":[93],"results.<":[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":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
