{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:22Z","timestamp":1754157382752,"version":"3.41.2"},"reference-count":30,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2011,3,8]],"date-time":"2011-03-08T00:00:00Z","timestamp":1299542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,3,8]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present the development and validation of a methodology which allows modeling and solving the inverse and direct dynamic problem in real time in robot manipulators.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The robot dynamic equation is based on the Gibbs\u2010Appell equation of motion, yielding a well\u2010structured set of equations that can be computed in real time. This paper deals with the implementation and calculation of the inverse and direct dynamic problem in robots, with an application to the real\u2010time control of a PUMA 560 industrial robot provided with an open control architecture based on an industrial personal computer.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The experimental results show the validity of the dynamic model and that the proposed resolution method for the dynamic problem in real time is suitable for control purposes.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>The accuracy of the applied friction model determines the accuracy of the identified overall model and consequently of the control. This is especially obvious in the case of the PUMA 560 robot, in which the presence of friction is remarkable in some of their joints. Hence, future work should focus on identifying a more precise friction model. The robot model could also be extended by incorporating rotor dynamics and could be applied for different robot configurations as parallel robots.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Gibbs\u2010Appell equations are used in order to develop the robotic manipulator dynamic model, instead of more usual dynamics formulations, due to several advantages that these exhibit. The obtained non\u2010physical identified parameters are adapted in order to enable their use in a control algorithm.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911111106336","type":"journal-article","created":{"date-parts":[[2011,2,19]],"date-time":"2011-02-19T07:01:14Z","timestamp":1298098874000},"page":"119-129","source":"Crossref","is-referenced-by-count":6,"title":["Real\u2010time solving of dynamic problem in industrial robots"],"prefix":"10.1108","volume":"38","author":[{"given":"Nuria","family":"Rosillo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Angel","family":"Valera","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francesc","family":"Benimeli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vicente","family":"Mata","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Francisco","family":"Valero","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022021620171919600_b1","doi-asserted-by":"crossref","unstructured":"Angeles, J., Ma, O. and Rojas, A. 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