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Robotic Syst."],"published-print":{"date-parts":[[1987,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In 1983 the authors implemented the computer program Algebraic Robot Modeler (ARM) to generate symbolically complete closed\u2010form and recursive dynamic robot models.<jats:sup>1\u20133<\/jats:sup>Then, in 1985, we incorporated in ARM heuristic rules for the systematic organization of dynamic robot models to reduce the computational requirements of customized forward and inverse dynamics calculations. We resolve the issue of numerical efficiency of customized closed\u2010form and recursive forward and inverse dynamics algorithms for kinematically and dynamically structured manipulators. We find that ARM\u2010generated customized closed\u2010form algorithms are the most computationally efficient calculators of forward and inverse dynamics of three degree\u2010of\u2010freedom manipulators. For six DOF predominantly rotational manipulators, ARM\u2010generated customized recursive algorithms are the most computationally efficient foward and inverse dynamics algorithms; inverse dynamics can be computed in less than one millisecond on commercially\u2010available processors (in software, without special\u2010purpose hardware). In our companion article,<jats:sup>4<\/jats:sup>we compare the symbolic efficiencies of six robot dynamics formulations for generating closed\u2010form and recursive models.<\/jats:p>","DOI":"10.1002\/rob.4620040404","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:12:04Z","timestamp":1183702324000},"page":"503-526","source":"Crossref","is-referenced-by-count":29,"title":["Customized computational robot dynamics"],"prefix":"10.1002","volume":"4","author":[{"given":"Charles P.","family":"Neuman","sequence":"first","affiliation":[]},{"given":"John J.","family":"Murray","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J. J.MurrayandC. P.Neuman \u201cARM: An Algebraic Robot Dynamic Modeling Program \u201d in Proceedings of the First International IEEE Conference on Robotics R. P. Paul Ed. 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Lozano\u2010Perez Ed. St. Louis MO March25\u201328 1985 pp.772\u2013778.","DOI":"10.1109\/ROBOT.1985.1087228"},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"J. Y. S.LuhandC. S.Lin \u201cAutomatic Generation of Dynamic Equations for Mechanical Manipulators \u201d in Proceedings of the 1981 Joint Automatic Control Conference Char\u2010lottesville VA June17\u201319 1981 pp.TA\u20102D\/1\u20135.","DOI":"10.1002\/oca.4660020212"},{"volume-title":"Robot Manipulators: Mathematics, Programming, and Control","year":"1981","author":"Paul R. P.","key":"e_1_2_1_15_2"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020308"},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"G.Cesareo F.Nicolo andS.Nicosia \u201cDYMIR: A Code for Generating Dynamic Model of Robots \u201d in Proceedings of the First International IEEE Conference on Robotics R. P. Paul Ed. 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