{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T23:00:37Z","timestamp":1762297237545,"version":"3.33.0"},"reference-count":15,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6007,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article presents a recursive algorithm for computation of dynamics of robot manipulators using the concepts of \u201caugmented body\u201d and \u201cbarycenter.\u201d This efficient algorithm is proposed for real\u2010time control. The proposed method of computation is based on Newton\u2010Euler formalism, and it can be applied to any rigid\u2010link manipulator with open\u2010loop kinematic chains with revolute and\/or prismatic joints. The computational efficiency of the proposed method is compared with other published methods.<\/jats:p>","DOI":"10.1002\/rob.4620070503","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:21:13Z","timestamp":1183717273000},"page":"689-702","source":"Crossref","is-referenced-by-count":6,"title":["An algorithm for efficient computation of dynamics of robotic manipulators"],"prefix":"10.1002","volume":"7","author":[{"given":"Xiaogeng","family":"He","sequence":"first","affiliation":[]},{"given":"A. A.","family":"Goldenberg","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"doi-asserted-by":"publisher","key":"e_1_2_1_2_2","DOI":"10.1109\/TSMC.1980.4308393"},{"doi-asserted-by":"publisher","key":"e_1_2_1_3_2","DOI":"10.1115\/1.3149599"},{"doi-asserted-by":"publisher","key":"e_1_2_1_4_2","DOI":"10.1177\/027836498200100204"},{"doi-asserted-by":"publisher","key":"e_1_2_1_5_2","DOI":"10.1002\/rob.4620020408"},{"doi-asserted-by":"publisher","key":"e_1_2_1_6_2","DOI":"10.1177\/027836498300200301"},{"doi-asserted-by":"publisher","key":"e_1_2_1_7_2","DOI":"10.1115\/1.3139699"},{"doi-asserted-by":"publisher","key":"e_1_2_1_8_2","DOI":"10.1109\/JRA.1985.1087016"},{"doi-asserted-by":"publisher","key":"e_1_2_1_9_2","DOI":"10.1109\/JRA.1986.1087061"},{"doi-asserted-by":"publisher","key":"e_1_2_1_10_2","DOI":"10.1109\/JRA.1986.1087062"},{"doi-asserted-by":"crossref","unstructured":"W.Khalil J. F.Kleinfinger andM.Gautier \u201cReducing the computational burden of the dynamic models for robots \u201d inProc. IEEE Int. Conf. on Robotics and Automations 1986 pp.525\u2013531.","key":"e_1_2_1_11_2","DOI":"10.1109\/ROBOT.1986.1087680"},{"doi-asserted-by":"crossref","unstructured":"C. A.Balafoutis P.Misrta andR. V.Patel \u201cA Cartesian tensor approach for fast computation of manipulator dynamics \u201d inProc. IEEE Int. Conf. on Robotics and Automation April 1988 pp.1348\u20131353.","key":"e_1_2_1_12_2","DOI":"10.1109\/ROBOT.1988.12255"},{"unstructured":"X.Cyril J.Angeles andA.Misra \u201cEfficient inverse dynamics of general N\u2010axis robotic manipulators \u201d inProc. Ninth Symposium on Engineering Applications of Mechanics May 1988 pp.595\u2013602.","key":"e_1_2_1_13_2"},{"unstructured":"O.Fisher Einf\u00fcrhrung in die mechanik lebender mechanismen Leipzig Germany 1906.","key":"e_1_2_1_14_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_15_2","DOI":"10.1007\/978-3-322-90942-8"},{"volume-title":"Introduction to Robotics: Mechanics and Control","year":"1986","author":"Craig J. J.","key":"e_1_2_1_16_2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620070503","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620070503","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:17:36Z","timestamp":1737184656000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620070503"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,10]]},"references-count":15,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1990,10]]}},"alternative-id":["10.1002\/rob.4620070503"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620070503","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1990,10]]}}}