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Based on this formulation, the elegant and concise expressions are derived for the displacement equation and especially the Jacobians governing the motion mapping between the manipulator tip and joint variables as well as link deflections. Introduction of the elasto-kinematics into the elasto-dynamics can directly take into consideration the nonlinear coupling between joint variables and link deflections, and thus improve the result of the elasto-dynamics.<\/jats:p>","DOI":"10.1017\/s0263574700017392","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:14:01Z","timestamp":1236690841000},"page":"371-382","source":"Crossref","is-referenced-by-count":6,"title":["On flexible link manipulators: modeling and analysis using the algebra of rotations"],"prefix":"10.1017","volume":"12","author":[{"given":"F.","family":"Xi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.G.","family":"Fenton","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700017392_ref020","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200101"},{"key":"S0263574700017392_ref013","volume-title":"Advanced Mechanisms","author":"Beggs","year":"1966"},{"key":"S0263574700017392_ref010","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1988.12015"},{"key":"S0263574700017392_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087868"},{"key":"S0263574700017392_ref007","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131756"},{"key":"S0263574700017392_ref019","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700404"},{"key":"S0263574700017392_ref004","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600106"},{"key":"S0263574700017392_ref003","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1990.203648"},{"key":"S0263574700017392_ref002","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300305"},{"key":"S0263574700017392_ref005","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800604"},{"key":"S0263574700017392_ref012","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292234"},{"key":"S0263574700017392_ref017","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292101"},{"key":"S0263574700017392_ref006","doi-asserted-by":"publisher","DOI":"10.1115\/1.2896124"},{"key":"S0263574700017392_ref014","volume-title":"Rational Kinematics","author":"Angeles","year":"1989"},{"key":"S0263574700017392_ref011","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900404"},{"key":"S0263574700017392_ref015","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(87)90079-6"},{"key":"S0263574700017392_ref018","first-page":"359","article-title":"Dynamics of a Chain of Flexible Bodies","volume":"XXVII","author":"Hughes","year":"1979","journal-title":"J. of the Astronautical Science"},{"key":"S0263574700017392_ref016","volume-title":"Robot Manipulators","author":"Paul","year":"1981"},{"key":"S0263574700017392_ref001","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267343"},{"key":"S0263574700017392_ref008","first-page":"75","article-title":"Determinatin of the Robot Jacob\u00edan Using the Algebra of Rotations","author":"Fenton","year":"1990","journal-title":"Proceedings of the 1990 ASME Mechanism Conference"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700017392","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,15]],"date-time":"2019-05-15T03:39:33Z","timestamp":1557891573000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700017392\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,7]]},"references-count":20,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1994,7]]}},"alternative-id":["S0263574700017392"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700017392","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,7]]}}}