{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T15:58:43Z","timestamp":1701446323825},"reference-count":13,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6555,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1989,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A computationally efficient method for manipulator dynamic analysis is presented. This method adopts two schemes to improve the computational efficiency. First, it takes the advantage of the following geometric feature of most manipulators: For the first three\u2010degree\u2010of\u2010freedom (DOF) mechanism (positioning mechanism), all the links are moving in a principal plane that is rotating about the base axis with respect to the ground. With this geometry, only three equations of motion per link, two equations for the forces in the principal plane and one equation for the moments which are perpendicular to the principal plane, are needed for the inverse dynamic analysis of the first three\u2010DOF motion. Thus, the number of equations can be reduced to half. Second, this method adopts longitudinal and transverse force components at certain joints in the formulation of equations of motion. This eliminates the need of a simultaneous solution of many equations, which is necessary in conventional Newton\u2010Euler method. Hence, this method is more computationally efficient than the many existing dynamic analysis methods. Two examples, one is closed\u2010chain type and the other is open\u2010chain type, are used as illustrations.<\/jats:p>","DOI":"10.1002\/rob.4620060205","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:02:38Z","timestamp":1183712558000},"page":"175-189","source":"Crossref","is-referenced-by-count":5,"title":["A computationally efficient method for manipulator dynamic analysis"],"prefix":"10.1002","volume":"6","author":[{"given":"Shin\u2010Min","family":"Song","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yueh\u2010Jaw","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(76)90099-7"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(79)90104-4"},{"key":"e_1_2_1_4_2","unstructured":"J. J.Uicker \u201cOn the Dynamic Analysis of Spatial Linkages Using 4 \u00d7 4 Matrices \u201d Ph.D. dissertation Northwestern University Aug. 1985."},{"key":"e_1_2_1_5_2","volume-title":"The Near\u2010Minimum\u2010Time Control of Open\u2010Loop Articulated Kinematic Chains","author":"Kahn M. E.","year":"1969"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200301"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"C. S. G.Lee B. H.Lee andR.Nigam \u201cDevelopment of the generalized D'Alembert equations of motion for mechanical manipulators \u201d Proceedings of the IEEE 22nd Conference on Decision and Control (1983).","DOI":"10.1109\/CDC.1983.269715"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149599"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1980.4308393"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100204"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087008"},{"key":"e_1_2_1_12_2","unstructured":"D. D.Ardayfio andD.Qiao \u201cStatic and dynamic force analysis of industrial robots with closed kinematic chains \u201d Proceedings of the 9th Applied Mechanisms Conference Kansas MO (1985)."},{"key":"e_1_2_1_13_2","first-page":"820","volume-title":"Vector Mechanics for Engineers\u2010Dynamics","author":"Beer F. P.","year":"1984"},{"key":"e_1_2_1_14_2","unstructured":"J. G.Patel \u201cStudies on Inverse Dynamic Analysis of Robotic Manipulators\u2014The Joint Replacement and Jacobian Transpose Methods \u201d M.S. thesis University of Illinois at Chicago Fall 1987."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620060205","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620060205","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T07:34:27Z","timestamp":1697960067000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620060205"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,4]]},"references-count":13,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1989,4]]}},"alternative-id":["10.1002\/rob.4620060205"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620060205","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,4]]}}}