{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T07:37:17Z","timestamp":1757576237531},"reference-count":16,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2007,3,21]],"date-time":"2007-03-21T00:00:00Z","timestamp":1174435200000},"content-version":"vor","delay-in-days":7506,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1986,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Two programs have been developed using the computer algebra system REDUCE to generate the dynamics equations of motion for robot manipulators. One of these programs is based on a Lagrange formulation and the other utilizes a recursive Newton\u2010Euler formulation. Both programs produce equivalent scalar symbolic expressions for the generalized actuator forces, but the program based on the recursive Newton\u2010Euler formulation is more efficient for the generation of equations. These programs have been used to generate the dynamics equations of manipulators with as many as six degrees of freedom.<\/jats:p><jats:p>The efficiency of computing forces using the generated scalar symbolic expressions is compared with the efficiency of a numerical algorithm (implemented in FORTRAN '77) based on the recursive Newton\u2010Euler formulation. Force computation by the method of symbolic equations is shown to be more efficient than the numerical recursive Newton\u2010Euler algorithm. The technique of symbolic equations is also better adapted to multi\u2010CPU processing.<\/jats:p>","DOI":"10.1002\/rob.4620030308","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:27:35Z","timestamp":1183699655000},"page":"301-319","source":"Crossref","is-referenced-by-count":30,"title":["Computer generation of robot dynamics equations and the related issues"],"prefix":"10.1002","volume":"3","author":[{"given":"J.","family":"Koplik","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. C.","family":"Leu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","series-title":"Technical Memorandum 33\u2013669","volume-title":"Robot Arm Dynamics and Control","author":"Bejczy A. K.","year":"1974"},{"issue":"11","key":"e_1_2_1_3_2","article-title":"A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity","volume":"10","author":"Hollerbach John M.","year":"1980","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149599"},{"key":"e_1_2_1_5_2","volume-title":"Robot Manipulators: Mathematics, Programming, and Control","author":"Paul R. P.","year":"1981"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100204"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200301"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"W. O.SchiehlenandE. J.Kreuzer \u201cSymbolic Computerized Derivation of Equations of Motion \u201dProceedings of IUTAM Symposium Munich Germany September1977.","DOI":"10.1007\/978-3-642-86461-2_24"},{"key":"e_1_2_1_10_2","unstructured":"A.Liegois W.Khalil J. M.Dumas andM.Renaud \u201cMathematical and Computer Models of Interconnected Mechanical Systems \u201dProceedings of 2nd International DISM\u2010IFToMM Symposium Warsaw September1976."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143765"},{"key":"e_1_2_1_12_2","unstructured":"L.Vecchio S.Nicosia F.Nicolo andD.Lentini \u201cAutomatic Generation of Dynamic Models of Manipulators \u201dProceedings of the 10th International Symposium of Industrial Robots Milan Italy March1980."},{"key":"e_1_2_1_13_2","volume-title":"REDUCE User's Manual, Version 3.1","author":"Hearn A. C.","year":"1984"},{"key":"e_1_2_1_14_2","article-title":"Scheduling of Parallel Computation for a Computer\u2010Controlled Mechanical Manipulator","volume":"12","author":"Luh J. Y. S.","year":"1982","journal-title":"IEEE Trans. Syst. Man Cybern"},{"key":"e_1_2_1_15_2","volume-title":"Computer Generation of Robot Dynamics Equations of Motion and the Related Issues","author":"Koplik J.","year":"1985"},{"key":"e_1_2_1_16_2","volume-title":"MACSYMA Reference Manual","year":"1984"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010404"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620030308","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620030308","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T10:45:49Z","timestamp":1697885149000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620030308"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1986,9]]},"references-count":16,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1986,9]]}},"alternative-id":["10.1002\/rob.4620030308"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620030308","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1986,9]]}}}