{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T07:00:24Z","timestamp":1771484424738,"version":"3.50.1"},"reference-count":13,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6642,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1991,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A robotic manipulator is usually a very complicated system whose dynamics is too complicated time consuming for real-time control. The authors propose general criteria for designing an ideal robot whose dynamics is very much simpler than that of the conventional one. In this paper, dynamic characteristics of an ideally designed robot are investigated. The design guidelines were applied to a 6-degree-of-freedom PUMA 560 robot. Based upon the design concept dynamic equations of the redesigned robot were derived. Utilizing these equations, dynamic characteristics of the redesigned robot are investigated with respect to the computation efforts required, variation of the inertia matrix, joint input torque chracteristics, and couplings between the joints. A detailed comparison study is also made between the redesigned and conventional robots.<\/jats:p>","DOI":"10.1017\/s0263574700015605","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:18:45Z","timestamp":1236691125000},"page":"93-98","source":"Crossref","is-referenced-by-count":5,"title":["On the Dynamic Characteristics of a Redesigned Robot"],"prefix":"10.1017","volume":"9","author":[{"given":"H. S.","family":"Park","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"H. S.","family":"Cho","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700015605_ref004","unstructured":"4. Chung W.K. and Cho H.S. , \u201cOn the dynamic characteristics of balanced robotic manipulators\u201d Proceedings of Japan-USA Symposium on Flexible Automation, Osaka, Japan 119\u2013126 (1986)."},{"key":"S0263574700015605_ref002","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143854"},{"key":"S0263574700015605_ref006","unstructured":"6. Chung W.K. , On the Dynamic Characteristics and Control of Balanced Robotic Manipulators, Ph.D. Thesis (Korea Advanced Institute of Science and Technology, 1987)."},{"key":"S0263574700015605_ref001","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500307"},{"key":"S0263574700015605_ref005","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1987_201_041_02"},{"key":"S0263574700015605_ref013","unstructured":"13. Eun T. , \u201cAn Adaptive Hybrid Position\/Force Control of Manipulators in Task-oriented Coordinates\u201d, Ph.D. Thesis (KAIST, 1987)."},{"key":"S0263574700015605_ref009","doi-asserted-by":"crossref","unstructured":"9. Armstrong B. , Khatib O. and Burdick J. , \u201cThe explicit dynamic model and parameters of the PUMA 560 arm\u201d Procs. IEEE Int. Conf. on Robotics and Automation 510\u2013518 (1986).","DOI":"10.1109\/ROBOT.1986.1087644"},{"key":"S0263574700015605_ref008","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1987_201_072_02"},{"key":"S0263574700015605_ref003","unstructured":"3. Chung W.K. , Cho H.S. , Lee C.W. and Warnecke H.J. , \u201cPerformance of robotic manipulators with an automatic balancing mechanism\u201d ASME Winter Annual Meeting, New Orleans, USA 111\u2013121 (1984)."},{"key":"S0263574700015605_ref007","doi-asserted-by":"publisher","DOI":"10.1109\/41.192653"},{"key":"S0263574700015605_ref010","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(85)90055-2"},{"key":"S0263574700015605_ref011","first-page":"261","article-title":"Simplified robot arm dynamics for control","author":"Bejczy","year":"1981","journal-title":"IEEE Conferences on Decision and Control"},{"key":"S0263574700015605_ref012","unstructured":"12. Youcef-Toumi K. , Analysis, \u201cDesign and Control of Direct-Drive Manipulators\u201d Ph.D. Thesis (MIT, 1985)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700015605","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:56:18Z","timestamp":1738990578000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700015605\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,1]]},"references-count":13,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1991,1]]}},"alternative-id":["S0263574700015605"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700015605","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,1]]}}}