{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T07:27:17Z","timestamp":1648711637362},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[1997,5,1]],"date-time":"1997-05-01T00:00:00Z","timestamp":862444800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1997,5]]},"abstract":"<jats:p>Isotropic velocity radius (<jats:italic>IVR<\/jats:italic>) and isotropic acceleration\nradius (<jats:italic>IVR<\/jats:italic>) are proposed as local performance indices to quantify the\ndynamic responsiveness of a multi-arm robot as regards the velocity effects.\nThese performance measures are defined on the basis of the acceleration set\ndescribing the effects of actuator torques, velocity of the manipulated object,\nand gravity upon the acceleration of the object. An algorithm is presented to\nobtain an explicit expression for calculating these measures by decomposing the\ntorque-related non-square matrix into square matrices without using the concept\nof pseudo-inverse for the planar multi-arm robot composed of arms each with two\njoints.<\/jats:p><jats:p> Numerical examples for a planar robot with two 2R arms show that\nthe proposed concepts are effective in representing the acceleration capability\nand velocity effects of a multi-arm robot.<\/jats:p>","DOI":"10.1017\/s0263574797000362","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"319-329","source":"Crossref","is-referenced-by-count":6,"title":["Task space dynamic analysis for multi-arm robot using\nisotropic velocity and acceleration radii"],"prefix":"10.1017","volume":"15","author":[{"given":"Choong-Young","family":"Kim","sequence":"first","affiliation":[]},{"given":"Yong-San","family":"Yoon","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[1997,5,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000362","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T20:58:29Z","timestamp":1557608309000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000362\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,5]]},"references-count":0,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1997,5]]}},"alternative-id":["S0263574797000362"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000362","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,5]]}}}