乐胖代购免代理版

{"id":"https://openalex.org/W2101712693","doi":"https://doi.org/10.1109/iros.2001.976398","title":"A versatile C++ toolbox for model based, real time control systems of robotic manipulators","display_name":"A versatile C++ toolbox for model based, real time control systems of robotic manipulators","publication_year":2002,"publication_date":"2002-11-13","ids":{"openalex":"https://openalex.org/W2101712693","doi":"https://doi.org/10.1109/iros.2001.976398","mag":"2101712693"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2001.976398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://elib.dlr.de/11750/1/otter2001-iros-crob.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078614145","display_name":"Robert H\u00f6pler","orcid":null},"institutions":[],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Hopler","raw_affiliation_strings":["Inst. fur Robotic & Mechatron, DLR Obarpfaffenhofen, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Inst. fur Robotic & Mechatron, DLR Obarpfaffenhofen, Wessling, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037753671","display_name":"Martin Otter","orcid":"https://orcid.org/0000-0001-6348-9569"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"funder","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Otter","raw_affiliation_strings":["German Aerospace Center"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center","institution_ids":["https://openalex.org/I2898391981"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.783,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":14,"citation_normalized_percentile":{"value":0.881178,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":82,"max":83},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9987,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9987,"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/T13286","display_name":"Modeling and Simulation Systems","score":0.9972,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9964,"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/robustness","display_name":"Robustness","score":0.61487335},{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.524168},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.46825963}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7557992},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.71796525},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.61487335},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5423371},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.524168},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.46825963},{"id":"https://openalex.org/C179518139","wikidata":"https://www.wikidata.org/wiki/Q5140297","display_name":"Coding (social sciences)","level":2,"score":0.45330226},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41850868},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41382018},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2513777},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11905879},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.114884466},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10484883},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2001.976398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://elib.dlr.de/11750/1/otter2001-iros-crob.pdf","pdf_url":"https://elib.dlr.de/11750/1/otter2001-iros-crob.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":["Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)"],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.386.4869","pdf_url":"http://elib.dlr.de/11750/1/otter2001-iros-crob.pdf","source":{"id":"https://openalex.org/S4306400349","display_name":"CiteSeer X (The Pennsylvania State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I130769515","host_organization_name":"Pennsylvania State University","host_organization_lineage":["https://openalex.org/I130769515"],"host_organization_lineage_names":["Pennsylvania State University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://elib.dlr.de/11750/1/otter2001-iros-crob.pdf","pdf_url":"https://elib.dlr.de/11750/1/otter2001-iros-crob.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":["Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)"],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":19,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1496777766","https://openalex.org/W1528850474","https://openalex.org/W1778049851","https://openalex.org/W1966552874","https://openalex.org/W1983438352","https://openalex.org/W1988882685","https://openalex.org/W1997202276","https://openalex.org/W2004609114","https://openalex.org/W2042704969","https://openalex.org/W2064263864","https://openalex.org/W2066443890","https://openalex.org/W2114866967","https://openalex.org/W2115091574","https://openalex.org/W2118382442","https://openalex.org/W2127752135","https://openalex.org/W2246023205","https://openalex.org/W2999690596","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2978678743","https://openalex.org/W2972304526","https://openalex.org/W2770397302","https://openalex.org/W2380210784","https://openalex.org/W2375415610","https://openalex.org/W2367567586","https://openalex.org/W2351085177","https://openalex.org/W2119963650","https://openalex.org/W2084494155","https://openalex.org/W2068663075"],"abstract_inverted_index":{"Model":[0],"based":[1],"technologies":[2],"form":[3],"the":[4,26,46,93],"core":[5],"of":[6,88,134],"advanced":[7],"robotic":[8],"applications":[9],"such":[10,99],"as":[11,100,121,123],"model":[12,47,79,110],"predictive":[13],"control":[14,31,98],"and":[15,40,57,74,102,107],"feedback":[16],"linearization.":[17],"More":[18],"sophisticated":[19],"models":[20],"result":[21],"in":[22,28,96],"higher":[23],"quality":[24],"but":[25],"use":[27],"embedded":[29],"real-time":[30],"systems":[32],"imposes":[33],"strict":[34],"requirements":[35],"on":[36,83],"timing,":[37],"memory":[38],"allocation,":[39],"robustness.":[41],"To":[42],"satisfy":[43],"these":[44],"constraints,":[45],"implementation":[48],"is":[49],"often":[50],"optimized":[51],"by":[52],"manual":[53],"coding,":[54],"an":[55,64,84],"unwieldy":[56],"error":[58],"prone":[59],"process.":[60],"The":[61],"paper":[62],"presents":[63],"approach":[65],"that":[66,115,126],"exploits":[67],"code":[68],"synthesis":[69],"from":[70],"high":[71],"level":[72],"intuitive":[73],"convenient":[75],"multi-body":[76,118],"system":[77],"(MBS)":[78],"descriptions.":[80],"It":[81],"relies":[82],"object-oriented":[85],"C++":[86],"library":[87],"MBS":[89],"components":[90],"tailored":[91],"to":[92,117],"computations":[94],"required":[95],"robot":[97],"forward":[101],"inverse":[103,105],"kinematics,":[104],"dynamics,":[106],"Jacobians.":[108],"Efficient":[109],"evaluation":[111],"algorithms":[112],"are":[113,127],"developed":[114],"apply":[116],"tree":[119],"structures":[120],"well":[122],"kinematic":[124],"loops":[125],"solved":[128],"analytically":[129],"for":[130],"a":[131],"certain":[132],"class":[133],"loop":[135],"structures.":[136]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2101712693","counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-04-16T10:06:53.072766","created_date":"2016-06-24"}