{"id":"https://openalex.org/W2045333834","doi":"https://doi.org/10.1002/rob.4620060205","title":"A computationally efficient method for manipulator dynamic analysis","display_name":"A computationally efficient method for manipulator dynamic analysis","publication_year":1989,"publication_date":"1989-04-01","ids":{"openalex":"https://openalex.org/W2045333834","doi":"https://doi.org/10.1002/rob.4620060205","mag":"2045333834"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620060205","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620060205","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112285658","display_name":"Shin\u2010Min Song","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shin\u2010Min Song","raw_affiliation_strings":["Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, Illinois 60680","Department of Mechanical Engineering, University of Illinois at Chicago, P. O. Box 4348, Chicago, Illinois 60680"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, Illinois 60680","institution_ids":["https://openalex.org/I39422238"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Illinois at Chicago, P. O. Box 4348, Chicago, Illinois 60680","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111614036","display_name":"Yueh\u2010Jaw Lin","orcid":"https://orcid.org/0000-0002-6198-0079"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yueh\u2010Jaw Lin","raw_affiliation_strings":["Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, Illinois 60680","Department of Mechanical Engineering, University of Illinois at Chicago, P. O. Box 4348, Chicago, Illinois 60680"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, Illinois 60680","institution_ids":["https://openalex.org/I39422238"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Illinois at Chicago, P. O. Box 4348, Chicago, Illinois 60680","institution_ids":["https://openalex.org/I39422238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39422238"],"apc_list":null,"apc_paid":null,"fwci":1.474,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82233883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"6","issue":"2","first_page":"175","last_page":"189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/principal-axis-theorem","display_name":"Principal axis theorem","score":0.6378905773162842},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.614926815032959},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5100885033607483},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.47440218925476074},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.465350478887558},{"id":"https://openalex.org/keywords/euler-equations","display_name":"Euler equations","score":0.46124547719955444},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43715110421180725},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4319974184036255},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41432899236679077},{"id":"https://openalex.org/keywords/principal","display_name":"Principal (computer security)","score":0.4126568138599396},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.321735680103302},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2925771474838257},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1866452693939209},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17031773924827576},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12967070937156677}],"concepts":[{"id":"https://openalex.org/C161326058","wikidata":"https://www.wikidata.org/wiki/Q7245073","display_name":"Principal axis theorem","level":2,"score":0.6378905773162842},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.614926815032959},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5100885033607483},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.47440218925476074},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.465350478887558},{"id":"https://openalex.org/C38409319","wikidata":"https://www.wikidata.org/wiki/Q375175","display_name":"Euler equations","level":2,"score":0.46124547719955444},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43715110421180725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4319974184036255},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41432899236679077},{"id":"https://openalex.org/C144559511","wikidata":"https://www.wikidata.org/wiki/Q2986279","display_name":"Principal (computer security)","level":2,"score":0.4126568138599396},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.321735680103302},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2925771474838257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1866452693939209},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17031773924827576},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12967070937156677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620060205","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620060205","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1485944588","https://openalex.org/W1966552874","https://openalex.org/W1973862175","https://openalex.org/W1978413780","https://openalex.org/W2002515014","https://openalex.org/W2080017937","https://openalex.org/W2087102025","https://openalex.org/W2115527149","https://openalex.org/W2147245217","https://openalex.org/W2162046045"],"related_works":["https://openalex.org/W236190221","https://openalex.org/W2379779959","https://openalex.org/W2333822231","https://openalex.org/W2394141650","https://openalex.org/W2390200212","https://openalex.org/W2388028180","https://openalex.org/W2105505991","https://openalex.org/W1967372967","https://openalex.org/W2022188753","https://openalex.org/W2361329093"],"abstract_inverted_index":{"Abstract":[0],"A":[1],"computationally":[2,159],"efficient":[3,160],"method":[4,12,119,156],"for":[5,75,85,97],"manipulator":[6],"dynamic":[7,100,165],"analysis":[8,101,166],"is":[9,52,148,157,171,177],"presented.":[10],"This":[11,136],"adopts":[13,120],"two":[14,73],"schemes":[15],"to":[16,60,91,115],"improve":[17],"the":[18,24,27,35,43,55,61,76,79,86,92,98,103,108,130,138,162,175],"computational":[19],"efficiency.":[20],"First,":[21],"it":[22],"takes":[23],"advantage":[25],"of":[26,31,69,102,110,132,134,140,144],"following":[28],"geometric":[29],"feature":[30],"most":[32],"manipulators:":[33],"For":[34],"first":[36,104],"three\u2010degree\u2010of\u2010freedom":[37],"(DOF)":[38],"mechanism":[39],"(positioning":[40],"mechanism),":[41],"all":[42],"links":[44],"are":[45,89,95,180],"moving":[46],"in":[47,78,129,150],"a":[48,141],"principal":[49,80,93],"plane":[50,81],"that":[51],"rotating":[53],"about":[54],"base":[56],"axis":[57],"with":[58],"respect":[59],"ground.":[62],"With":[63],"this":[64,118,155],"geometry,":[65],"only":[66],"three":[67],"equations":[68,74,111,133],"motion":[70],"per":[71],"link,":[72],"forces":[77],"and":[82,122,174],"one":[83,170],"equation":[84],"moments":[87],"which":[88,147],"perpendicular":[90],"plane,":[94],"needed":[96],"inverse":[99],"three\u2010DOF":[105],"motion.":[106,135],"Thus,":[107],"number":[109],"can":[112],"be":[113],"reduced":[114],"half.":[116],"Second,":[117],"longitudinal":[121],"transverse":[123],"force":[124],"components":[125],"at":[126],"certain":[127],"joints":[128],"formulation":[131],"eliminates":[137],"need":[139],"simultaneous":[142],"solution":[143],"many":[145,163],"equations,":[146],"necessary":[149],"conventional":[151],"Newton\u2010Euler":[152],"method.":[153],"Hence,":[154],"more":[158],"than":[161],"existing":[164],"methods.":[167],"Two":[168],"examples,":[169],"closed\u2010chain":[172],"type":[173],"other":[176],"open\u2010chain":[178],"type,":[179],"used":[181],"as":[182],"illustrations.":[183]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
