{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,25]],"date-time":"2023-10-25T05:26:37Z","timestamp":1698211597249},"reference-count":14,"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>The effect of a manipulator inertial parameter errors on the manipulator system performance are studied. First, the relationships between the tracking error of the manipulator joint variables and the manipulator inertial parameter errors are derived. Then, using these relationships, the maximum steady state position, velocity, and acceleration errors of the joint variables are determined. The derived relationships allow us to acquire a desired steady state performance for joint variations either by increasing the control gains in the feedback control loops and\/or by reducing the manipulator inertial parameter errors. These two problems are, also, addressed in this paper. The computational results of the maximum steady state position, velocity, and acceleration errors of the joints for a PUMA 560 arm are included.<\/jats:p>","DOI":"10.1002\/rob.4620070504","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:21:13Z","timestamp":1183717273000},"page":"703-720","source":"Crossref","is-referenced-by-count":1,"title":["Effect of inexact inertial parameters on robot manipulator system performance"],"prefix":"10.1002","volume":"7","author":[{"given":"Chang\u2010Jin","family":"Li","sequence":"first","affiliation":[]},{"given":"A.","family":"Hemami","sequence":"additional","affiliation":[]},{"given":"T. S.","family":"Sankar","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1109\/21.87058","article-title":"A new method of dynamics for robot manipulators","volume":"18","author":"Li C. J.","year":"1988","journal-title":"IEEE Trans. on Systems, Man, and Cybernetics"},{"key":"e_1_2_1_3_2","first-page":"14","article-title":"A fast computational method of Lagrangian dynamics for robot manipulators","volume":"3","author":"Li C. J.","year":"1988","journal-title":"Int. J, Robotics and Automation"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149599"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"e_1_2_1_6_2","first-page":"75","article-title":"Optimal control of robot manipulators with dynamic compensation","volume":"8","author":"Li C. J.","year":"1988","journal-title":"J. Beijing Institute of Technology"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"T. J.Tarn A. K.Bejczy A.Isidori andY. L.Chen \u201cNonlinear feedback in robot arm control \u201d inProc. of 23rd IEEE Conf. on Decision and Control Las Vegas Nevada 1984.","DOI":"10.1109\/CDC.1984.272107"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500306"},{"key":"e_1_2_1_9_2","volume-title":"Robot Arm Dynamics and Control","author":"Bejczy A. K.","year":"1974"},{"key":"e_1_2_1_10_2","volume-title":"Robot Manipulator: Mathematics, Programming and Control","author":"Paul R. P.","year":"1981"},{"key":"e_1_2_1_11_2","unstructured":"S.MegahedandM.Renaud \u201cMinimization of the computation time necessary for the dynamic models of robot manipulators \u201d in Proc. 12th ISIR Paris June1982."},{"key":"e_1_2_1_12_2","volume-title":"Linear and Nonlinear Programming","author":"Luenberger D. G.","year":"1984"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1980.4308393"},{"key":"e_1_2_1_14_2","first-page":"97","article-title":"Manipulator dynamics simplification based on function approximation","volume":"3","author":"Lin C. S.","year":"1988","journal-title":"Int. J. 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