{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,6]],"date-time":"2024-09-06T15:02:21Z","timestamp":1725634941886},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":8590,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1985,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>An iterative procedure for obtaining dynamic model of manipulator has been proposed in this paper. The high efficiency of the procedure is reached on the basis of iterative relations of dynamic parameters. For general six revolute joint manipulator, the complete dynamic model i.e. matrices <jats:italic>H<\/jats:italic>(q), <jats:italic>C<\/jats:italic>(q), <jats:italic>G<\/jats:italic>(q) and vector of joint torques 13. <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574700009061_inline1\" \/> requires 992 multiplications and 776 additions. When the complete dynamic model is given by 13. <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574700009061_inline2\" \/> the number of operations reduces to 863 multiplications and 773 additions.<\/jats:p>","DOI":"10.1017\/s0263574700009061","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:28:04Z","timestamp":1236691684000},"page":"147-152","source":"Crossref","is-referenced-by-count":17,"title":["An efficient procedure for generating dynamic manipulator models"],"prefix":"10.1017","volume":"3","author":[{"given":"M.","family":"Vukobratovi\u0107","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shi-Gang","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"N.","family":"Kir\u0107anski","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700009061_ref010","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(73)90071-0"},{"key":"S0263574700009061_ref007","first-page":"730","article-title":"A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity","volume":"10","author":"Hollerbach","year":"1980","journal-title":"IEEE Trans on SMC"},{"key":"S0263574700009061_ref006","doi-asserted-by":"publisher","DOI":"10.1115\/1.3424493"},{"key":"S0263574700009061_ref016","volume-title":"First IEEE Conf. on Robotics","author":"Vukobratovi\u0107","year":"1984"},{"key":"S0263574700009061_ref005","volume-title":"Th\u00e9se de Docteur-Ing\u00e9nieur","author":"Renaud","year":"1975"},{"key":"S0263574700009061_ref001","unstructured":"1. Uicker J.J. , \u201cOn Dynamic Analysis of Spatial Linkages Using 4 \u00d7 4 Matrices\u201d Ph.D. Dissertation (Northwestern University, Evanstone, August, 1965)."},{"key":"S0263574700009061_ref003","doi-asserted-by":"publisher","DOI":"10.1115\/1.3427886"},{"key":"S0263574700009061_ref002","unstructured":"2. Kahn M.E. , \u201cThe Near Minimum Time Control of Open Loop Articulated Kinematic Chains Ph.D. Thesis (Stanford University, MEMO AIM. 106, 1969)."},{"key":"S0263574700009061_ref009","doi-asserted-by":"publisher","DOI":"10.1115\/1.3424437"},{"key":"S0263574700009061_ref019","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-322-90942-8"},{"key":"S0263574700009061_ref004","first-page":"877","article-title":"On the Application of Lagrange's Method to the Description of Dynamic Systems","volume":"12","author":"Mahil","year":"1982","journal-title":"IEEE Trans on SMC"},{"key":"S0263574700009061_ref011","volume-title":"Proc. of JACC","author":"Walker","year":"1981"},{"key":"S0263574700009061_ref018","volume-title":"Theoretische Grundlagen f\u00fcr eine Mechanik der lebenden K\u00f6rper","author":"Fischer","year":"1906"},{"key":"S0263574700009061_ref012","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149599"},{"key":"S0263574700009061_ref013","unstructured":"13. 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