{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T14:39:48Z","timestamp":1776177588141,"version":"3.50.1"},"reference-count":24,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Dynamics modeling is important for the design, analysis, simulation, and control of robotic and other computer\u2010controlled mechanical systems. The complete dynamic modeling of such systems involves the computationally intensive solution of a set of non\u2010linear, coupled differential equations. Artificial neural networks are well suited for this application due to their ability to represent complex functions and, potentially, to operate in real time. The application of an artificial neural network to dynamics modeling of robotic systems is investigated. The Cerebellar Model Arithmetic Computer (CMAC) is employed. A hybrid implementation of CMAC is proposed to allow use of the model for either simulation or control of robotic manipulators. The success of the simulated results and the accuracy of the generated outputs after a few training cycles demonstrate great promise for further development of the method and its implementation in control systems. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110106","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:19:29Z","timestamp":1183731569000},"page":"41-56","source":"Crossref","is-referenced-by-count":12,"title":["Dynamics modeling of robotic manipulators using an artificial neural network"],"prefix":"10.1002","volume":"11","author":[{"given":"Azim","family":"Eskandarian","sequence":"first","affiliation":[]},{"given":"Nabih E.","family":"Bedewi","sequence":"additional","affiliation":[]},{"given":"Bruce M.","family":"Kramer","sequence":"additional","affiliation":[]},{"given":"Anthony J.","family":"Barbera","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"e_1_2_1_3_2","unstructured":"J. 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June1981 TA\u20102D."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"e_1_2_1_12_2","volume-title":"Scientific Fundamentals of Robotics","author":"Vukobratovic M.","year":"1985"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070503"},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","DOI":"10.21236\/AD0785071","volume-title":"Modeling, trajectory calculation and servoing of a computer controlled arm","author":"Paul R. P.","year":"1972"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1108\/eb004494"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087081"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1117\/12.937756"},{"key":"e_1_2_1_18_2","unstructured":"S.Sathiakumar R. E.Betz andR. J.Evans \u201cAn AI based controller for robotic systems \u201d Proceedings of the International Symposium and Exposition on Robots Australian Robot Association Nov.1988 Ch. 6 pp.507\u2013527."},{"key":"e_1_2_1_19_2","volume-title":"Reports and notes\/conversation","author":"Barbera A. J.","year":"1989"},{"key":"e_1_2_1_20_2","unstructured":"DARPA Neural Network Study AFCEA International Press A Division of the Armed Forces Communications and Electronics Association (AFCEA) Fairfax VA 1988."},{"key":"e_1_2_1_21_2","first-page":"141","volume-title":"Robot Dynamics And Control","author":"Spong M. W.","year":"1989"},{"key":"e_1_2_1_22_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"},{"key":"e_1_2_1_23_2","first-page":"7","volume-title":"Adaptive Control of Mechanical Manipulators","author":"Craig J. J.","year":"1988"},{"key":"e_1_2_1_24_2","unstructured":"A.Eskandarian A Reference Model Dynamics\u2010CMAC Algorithm for Simulation and Control of Robotic Manipulators. D. Sc. Dissertation George Washington University Washington D.C. 1991."},{"key":"e_1_2_1_25_2","first-page":"159","volume-title":"Introduction To Robotics Mechanics & Control","author":"Craig J. 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