{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,7]],"date-time":"2025-06-07T04:05:48Z","timestamp":1749269148008,"version":"3.41.0"},"reference-count":24,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[1999,3,1]],"date-time":"1999-03-01T00:00:00Z","timestamp":920246400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[1999,3,1]],"date-time":"1999-03-01T00:00:00Z","timestamp":920246400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Intelligent and Robotic Systems"],"published-print":{"date-parts":[[1999,3]]},"DOI":"10.1023\/a:1008060015028","type":"journal-article","created":{"date-parts":[[2002,12,22]],"date-time":"2002-12-22T12:45:23Z","timestamp":1040561123000},"page":"269-293","source":"Crossref","is-referenced-by-count":2,"title":["On Reducing Numerical Complexity of Complex Robot Dynamics"],"prefix":"10.1007","volume":"24","author":[{"given":"Milo\u0161","family":"Rackovi\u0107","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Du\u0161an","family":"Surla","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Miomir","family":"Vukobratovi\u0107","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"key":"191135_CR1","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-81854-7","volume-title":"Dynamics of Manipulation Robots, Theory and Application","author":"M. Vukobratovi\u0107","year":"1982","unstructured":"Vukobratovi\u0107, M. and Potkonjak, V.: Dynamics of Manipulation Robots, Theory and Application, Springer, Berlin, 1982."},{"key":"191135_CR2","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-83006-8","volume-title":"Biped Locomotion, Dynamics, Stability, Control and Application","author":"M. Vukobratovi\u0107","year":"1990","unstructured":"Vukobratovi\u0107, M., Borovac, B., Surla, D., and Stoki\u0107, D.: Biped Locomotion, Dynamics, Stability, Control and Application, Springer, Berlin, 1990."},{"key":"191135_CR3","unstructured":"Kir\u0107anski, N. and Vukobratovi\u0107, M.: Computer aided procedure of forming robot motion equations in analytical forms, in: Proc. of the VI IFToMM Congress, New Delhi, 1983, pp. 45\u201353."},{"key":"191135_CR4","first-page":"3","volume-title":"Proc. of the Advanced Software in Robotics","author":"M. J. Aldon","year":"1983","unstructured":"Aldon, M. J. and Ligeois, A.: Computational aspects in robot dynamics modelling, in: Proc. of the Advanced Software in Robotics, Liege, Belgium, May 4\u20136, 1983, Elsevier, Amsterdam, pp. 3\u201314."},{"issue":"1","key":"191135_CR5","first-page":"7","volume":"1","author":"J. Wittenburg","year":"1985","unstructured":"Wittenburg, J.: A program for nonlinear articulated-rigid-body dynamics, Robotersyst.\n1(1) (1985), 7\u201318.","journal-title":"Robotersyst."},{"key":"191135_CR6","volume-title":"Real-Time Dynamics of Manipulation Robots","author":"M. Vukobratovi\u0107","year":"1985","unstructured":"Vukobratovi\u0107, M. and Kir\u0107anski, N.: Real-Time Dynamics of Manipulation Robots, Springer, Berlin, 1985."},{"key":"191135_CR7","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-50995-7","volume-title":"Multibody Systems Handbook","author":"W. Schiehlen","year":"1990","unstructured":"Schiehlen, W.: Multibody Systems Handbook, Springer, New York, 1990."},{"key":"191135_CR8","unstructured":"MACSYMA Reference Manual, Symbolics, Cambridge, MA, 1984."},{"key":"191135_CR9","volume-title":"REDUCE User's Manual","author":"A. C. Hearn","year":"1984","unstructured":"Hearn, A. C.: REDUCE User's Manual, Version 3.1, Rand Corp., Santa Monica, CA, 1984."},{"key":"191135_CR10","doi-asserted-by":"crossref","unstructured":"Burdick, J. W.: An algorithm for generation of efficient manipulator dynamic equations, in: Proc. of the IEEE Int. Conf. on Robotics and Automation, San Francisco, 1986, pp. 212\u2013218.","DOI":"10.1109\/ROBOT.1986.1087659"},{"issue":"4","key":"191135_CR11","doi-asserted-by":"crossref","first-page":"503","DOI":"10.1002\/rob.4620040404","volume":"4","author":"C. P. Neuman","year":"1987","unstructured":"Neuman, C. P. and Murray, J. J.: Customized computational robot dynamics, J. Robotic Systems\n4(4) (1987), 503\u2013526.","journal-title":"J. Robotic Systems"},{"key":"191135_CR12","series-title":"Support Technique \u2013 Notice d'utilisation","volume-title":"SYMORO: Syst\u00e9me Pour la Modelisation des Robots","author":"W. Khalil","year":"1989","unstructured":"Khalil, W.: SYMORO: Syst\u00e9me Pour la Modelisation des Robots, Support Technique \u2013 Notice d'utilisation, ENSM-LAN, Nantes, 1989."},{"key":"191135_CR13","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1017\/S0263574700004677","volume":"6","author":"M. Kir\u0107anski","year":"1988","unstructured":"Kir\u0107anski, M., Vukobratovi\u0107, M., Kir\u0107anski, N., and Tim\u010denko, A.: A new program package for the generation of the efficient manipulator kinematic and dynamic equations in symbolic form, Robotica\n6 (1988), 311\u2013318.","journal-title":"Robotica"},{"key":"191135_CR14","first-page":"37","volume-title":"Multibody Systems Handbook","author":"M. Vukobratovi\u0107","year":"1989","unstructured":"Vukobratovi\u0107, M., Kir\u0107anski, N., Tim\u010denko, A., and Kir\u0107anski, M.: SYM \u2013 program for computer-aided generation of optimal symbolic models of robot manipulators, in: W. Schiehlen (ed.), Multibody Systems Handbook, Springer, New York, 1989, pp. 37\u201360."},{"key":"191135_CR15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/BF01258637","volume":"8","author":"N. Kir\u0107anski","year":"1993","unstructured":"Kir\u0107anski, N., Vukobratovi\u0107, M., Tim\u010denko, A., and Kir\u0107anski, M.: Symbolic modelling in robotics: Genesis, application and future prospects, J. Intelligent Robotic Systems\n8 (1993), 1\u201319.","journal-title":"J. Intelligent Robotic Systems"},{"key":"191135_CR16","doi-asserted-by":"crossref","unstructured":"Izaguirre, A. and Paul, R. P.: Computation of the inertial and gravitational coefficients of the dynamics equations for a robot manipulator with a load, in: Proc. of the IEEE Conf. on Robotics and Automation, 1985, pp. 1024\u20131032.","DOI":"10.1109\/ROBOT.1985.1087275"},{"issue":"6","key":"191135_CR17","doi-asserted-by":"crossref","first-page":"386","DOI":"10.1007\/BF00805739","volume":"63","author":"A. Kecskemethy","year":"1993","unstructured":"Kecskemethy, A. and Hiller, M.: Modelling the dynamics of complex multibody systems with kinematical transmission elements, Archive of Applied Mechanics \u2013 Ingenieur Archiv\n63(6) (1993), 386\u2013401.","journal-title":"Archive of Applied Mechanics \u2013 Ingenieur Archiv"},{"issue":"3\u20134","key":"191135_CR18","doi-asserted-by":"crossref","first-page":"287","DOI":"10.1016\/0045-7825(94)90064-7","volume":"115","author":"A. Kecskemethy","year":"1994","unstructured":"Kecskemethy, A. and Hiller, M.: An object-oriented approach for an effective formulation of multibody dynamics, Comput. Methods Appl. Mech. Engrg.\n115(3\u20134) (1994), 287\u2013314.","journal-title":"Comput. Methods Appl. Mech. Engrg."},{"key":"191135_CR19","unstructured":"Rackovi\u0107, M. and Konjovi\u0107, Z.: Forming the symbolic mathematical models of the complex robotic systems, in: Proc. of the 11th ISPE\/IEE\/IFAC Internat. Conf. on CAD\/CAM, Robotics and Factories of the Future, Pereira, Colombia, August 1995, pp. 183\u2013187."},{"key":"191135_CR20","unstructured":"Rackovi\u0107, M. and Surla, D.: Automatic generating of the symbolic mathematical models of the complex robotic systems, in: Proc. of the 1st ECPD Internat. Conf. on Advanced Robotics and Intelligent Automation, Athens, Greece, September 1995, pp. 522\u2013527."},{"key":"191135_CR21","unstructured":"Rackovi\u0107, M.: Generation of the mathematical models of complex robotic mechanisms in symbolic form, PhD Thesis, University of Novi Sad, 1996."},{"key":"191135_CR22","unstructured":"Rackovi\u0107, M. and Surla, D.: Closed-form mathematical model of the dynamics of a robotic mechanism with six degrees of freedom, in: Proc. of the 2nd ECPD Internat. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, September 1996, pp. 321\u2013326."},{"key":"191135_CR23","unstructured":"Surla, D. and Rackovi\u0107, M.: Closed-form mathematical model of the dynamics of anthropomorphic locomotion robotic mechanism, in: Proc. of the 2nd ECPD Internat. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, Austria, September 1996, pp. 327\u2013331."},{"key":"191135_CR24","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1017\/S0263574798000125","volume":"16","author":"M. Rackovi\u0107","year":"1998","unstructured":"Rackovi\u0107, M., Vukobratovi\u0107, M., and Surla, D.: Generation of dynamic models of complex robotic mechanisms in symbolic form, Robotica\n16 (1998), 23\u201336.","journal-title":"Robotica"}],"container-title":["Journal of Intelligent and Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1008060015028.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1023\/A:1008060015028\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1023\/A:1008060015028.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:25:34Z","timestamp":1749219934000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1023\/A:1008060015028"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,3]]},"references-count":24,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1999,3]]}},"alternative-id":["191135"],"URL":"https:\/\/doi.org\/10.1023\/a:1008060015028","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[1999,3]]}}}