乐胖代购免代理版

{"id":"https://openalex.org/W2161804072","doi":"https://doi.org/10.1109/iros.2009.5354822","title":"Trajectory scaling for a manipulator inverse dynamics control subject to generalized force derivative constraints","display_name":"Trajectory scaling for a manipulator inverse dynamics control subject to generalized force derivative constraints","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2161804072","doi":"https://doi.org/10.1109/iros.2009.5354822","mag":"2161804072"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354822","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035476966","display_name":"Corrado Guarino Lo Bianco","orcid":"https://orcid.org/0000-0002-0046-9242"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"funder","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Corrado Guarino Lo Bian","raw_affiliation_strings":["Dipartimento di Ingegneria Informazione, University of Parma, Parma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informazione, University of Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082874586","display_name":"Oscar Gerelli","orcid":null},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"funder","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Oscar Gerelli","raw_affiliation_strings":["Dipartimento di Ingegneria Informazione, University of Parma, Parma, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informazione, University of Parma, Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.551,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":4,"citation_normalized_percentile":{"value":0.57552,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":77,"max":79},"biblio":{"volume":null,"issue":null,"first_page":"5749","last_page":"5754"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.998,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.74638784},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4208255}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.78585684},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.74638784},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6912302},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.65137994},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6342467},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6141509},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.54493475},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.51233685},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.49733284},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4815205},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4208255},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27742594},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.20456138},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16783768},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.112698495},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354822","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":21,"referenced_works":["https://openalex.org/W1695986043","https://openalex.org/W1966552874","https://openalex.org/W1990042683","https://openalex.org/W1994843712","https://openalex.org/W2004406110","https://openalex.org/W2004609114","https://openalex.org/W2004815408","https://openalex.org/W2033006134","https://openalex.org/W2057182449","https://openalex.org/W2096661984","https://openalex.org/W2111210154","https://openalex.org/W2111632295","https://openalex.org/W2122761880","https://openalex.org/W2143082915","https://openalex.org/W2143804149","https://openalex.org/W2144908914","https://openalex.org/W2155415241","https://openalex.org/W2171028496","https://openalex.org/W2323447981","https://openalex.org/W2394669921","https://openalex.org/W4205362845"],"related_works":["https://openalex.org/W4285133152","https://openalex.org/W4234131606","https://openalex.org/W3200364395","https://openalex.org/W3009256916","https://openalex.org/W292582153","https://openalex.org/W2218699221","https://openalex.org/W2027247136","https://openalex.org/W1991692529","https://openalex.org/W1974141195","https://openalex.org/W1968954906"],"abstract_inverted_index":{"The":[0,88,103],"behaviour":[1],"of":[2,32,51,71,111,114],"robotic":[3],"manipulators":[4,19],"is":[5,79,91,126],"affected":[6],"by":[7,30,49,81],"the":[8,69,77,108,112,115],"actuators":[9],"dynamic":[10,26,53],"limits.":[11],"When":[12],"such":[13],"limits":[14],"are":[15,28,46],"not":[16],"explicitly":[17,106],"considered,":[18],"performances":[20],"rapidly":[21],"decrease.":[22],"In":[23,74],"this":[24,75,120],"paper,":[25,76],"saturations":[27,43],"handled":[29],"means":[31,50],"a":[33,38,52,122],"real-time":[34],"technique":[35],"based":[36],"on":[37],"trajectory":[39],"scaling":[40,65],"method:":[41],"whenever":[42],"occur,":[44],"trajectories":[45],"automatically":[47],"scaled":[48],"filter":[54],"in":[55,96],"order":[56],"to":[57,93],"preserve":[58],"an":[59],"accurate":[60],"path":[61],"tracking.":[62],"Commonly":[63],"known":[64],"algorithms":[66],"only":[67],"consider":[68],"existence":[70],"torque":[72,85],"saturations.":[73],"strategy":[78],"enriched":[80],"also":[82],"accounting":[83],"for":[84],"derivatives":[86],"constraints.":[87],"solution":[89],"proposed":[90],"suited":[92],"be":[94],"used":[95],"conjunction":[97],"with":[98],"standard":[99],"inverse":[100],"dynamics":[101],"controllers.":[102],"adopted":[104],"methodology":[105],"requires":[107],"realtime":[109],"evaluation":[110],"derivative":[113],"manipulator":[116],"inertia":[117],"matrix.":[118],"To":[119],"purpose,":[121],"novel":[123],"efficient":[124],"procedure":[125],"proposed.":[127]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2161804072","counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-04-16T15:08:27.166901","created_date":"2016-06-24"}