{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T14:59:45Z","timestamp":1767970785154,"version":"3.49.0"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2002,1,23]],"date-time":"2002-01-23T00:00:00Z","timestamp":1011744000000},"content-version":"unspecified","delay-in-days":22,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2002,1]]},"abstract":"<jats:p>In this paper, two algorithms for \n\nsolving the Inverse Dynamic Problem based on the Gibbs-Appell equations \n\nare proposed and verified. Both are developed using mainly vectorial \n\nvariables, and the equations are expressed in a recursive form. \n\nThe first algorithm has a computational complexity of <jats:italic>O<\/jats:italic>(<jats:italic>n<\/jats:italic><jats:sup>2<\/jats:sup>)  \n\nand is the least efficient of the two; the second \n\nalgorithm has a computational complexity of <jats:italic>O<\/jats:italic>(<jats:italic>n<\/jats:italic>). This algorithm will \n\nbe compared with one based on Newton-Euler equations of motion, \n\nformulated in a similar way, and using mainly vectors in \n\nits recursive formulation. The <jats:italic>O<\/jats:italic>(<jats:italic>n<\/jats:italic>) proposed algorithm will be used \n\nto solve the Inverse Dynamic Problem in a PUMA industrial \n\nrobot.<\/jats:p>","DOI":"10.1017\/s0263574701003502","type":"journal-article","created":{"date-parts":[[2008,8,14]],"date-time":"2008-08-14T06:30:24Z","timestamp":1218695424000},"page":"59-67","source":"Crossref","is-referenced-by-count":21,"title":["Inverse dynamic problem in robots using Gibbs-Appell equations"],"prefix":"10.1017","volume":"20","author":[{"given":"V.","family":"Mata","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Provenzano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J.L.","family":"Cuadrado","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Valero","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2002,1,23]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574701003502","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,6]],"date-time":"2019-04-06T14:50:54Z","timestamp":1554562254000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574701003502\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2002,1]]}},"alternative-id":["S0263574701003502"],"URL":"https:\/\/doi.org\/10.1017\/s0263574701003502","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,1]]}}}