{"id":"https://openalex.org/W2030993477","doi":"https://doi.org/10.1017/s0263574700003921","title":"Dynamic behaviour of a SCARA robot with links subjected to different velocity trajectories","display_name":"Dynamic behaviour of a SCARA robot with links subjected to different velocity trajectories","publication_year":1988,"publication_date":"1988-04-01","ids":{"openalex":"https://openalex.org/W2030993477","doi":"https://doi.org/10.1017/s0263574700003921","mag":"2030993477"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700003921","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700003921","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5091316717","display_name":"M. Yousef Ibrahim","orcid":"https://orcid.org/0000-0002-9859-6505"},"institutions":[{"id":"https://openalex.org/I4210087418","display_name":"Churchill School and Center","ror":"https://ror.org/010r6xh18","country_code":"US","type":"education","lineage":["https://openalex.org/I4210087418"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Y. Ibrahim","raw_affiliation_strings":["School of Engineering, GIAE, Churchill, Vic. 3842 (Australia","*School of Engineering, GIAE, Churchill, Vic. 3842 (Australia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, GIAE, Churchill, Vic. 3842 (Australia","institution_ids":["https://openalex.org/I4210087418"]},{"raw_affiliation_string":"*School of Engineering, GIAE, Churchill, Vic. 3842 (Australia)","institution_ids":["https://openalex.org/I4210087418"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075683083","display_name":"CD Cook","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Cook","raw_affiliation_strings":["Automation & Engineering Application Centre (AEAC), N.S.W., (Australia","\u2020Automation & Engineering Application Centre (AEAC), N.S.W., (Australia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation & Engineering Application Centre (AEAC), N.S.W., (Australia","institution_ids":["https://openalex.org/I4210157642"]},{"raw_affiliation_string":"\u2020Automation & Engineering Application Centre (AEAC), N.S.W., (Australia)","institution_ids":["https://openalex.org/I4210157642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000572470","display_name":"A. Kiet Tieu","orcid":"https://orcid.org/0000-0002-0592-8815"},"institutions":[{"id":"https://openalex.org/I204824540","display_name":"University of Wollongong","ror":"https://ror.org/00jtmb277","country_code":"AU","type":"education","lineage":["https://openalex.org/I204824540"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"K. Tieu","raw_affiliation_strings":["Dept. of Mech. Eng. Uni. of Wollongong (Australia","\u2021Dept. of Mech. Eng. Uni. of Wollongong (Australia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mech. Eng. Uni. of Wollongong (Australia","institution_ids":["https://openalex.org/I204824540"]},{"raw_affiliation_string":"\u2021Dept. of Mech. Eng. Uni. of Wollongong (Australia)","institution_ids":["https://openalex.org/I204824540"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7422,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72703996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"6","issue":"2","first_page":"115","last_page":"121"},"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":0.9973000288009644,"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":0.996999979019165,"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/scara","display_name":"SCARA","score":0.7845227122306824},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6398202180862427},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6243787407875061},{"id":"https://openalex.org/keywords/fortran","display_name":"Fortran","score":0.5305662155151367},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5298504829406738},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.527055025100708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5257397890090942},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5091342329978943},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4726903736591339},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.46213498711586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40112799406051636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2975865602493286},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2088056206703186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16989311575889587},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08200225234031677}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.7845227122306824},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6398202180862427},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6243787407875061},{"id":"https://openalex.org/C2778241615","wikidata":"https://www.wikidata.org/wiki/Q83303","display_name":"Fortran","level":2,"score":0.5305662155151367},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5298504829406738},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.527055025100708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5257397890090942},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5091342329978943},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4726903736591339},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.46213498711586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40112799406051636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2975865602493286},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2088056206703186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16989311575889587},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08200225234031677},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700003921","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700003921","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W890733876","https://openalex.org/W1556189328","https://openalex.org/W1582353822","https://openalex.org/W1977866635","https://openalex.org/W2080017937","https://openalex.org/W2246023205","https://openalex.org/W2912162946","https://openalex.org/W3206622103"],"related_works":["https://openalex.org/W2573045761","https://openalex.org/W3095489175","https://openalex.org/W152605265","https://openalex.org/W1486209696","https://openalex.org/W1968617831","https://openalex.org/W3169911176","https://openalex.org/W1531268293","https://openalex.org/W2358205927","https://openalex.org/W2058659183","https://openalex.org/W2219869035"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,153,189],"dynamics":[2,66,85,117],"of":[3,11,22,39,56,83,87,114,119,135,150,155,166,173,176],"a":[4,40,57,81,88,120,205],"mechanical":[5,96],"manipulator":[6,97],"have":[7],"the":[8,20,23,36,50,65,84,95,101,112,115,125,131,143,148,161,167,174,192],"inherent":[9],"characteristics":[10,31],"being":[12,98],"highly":[13],"non-linear":[14],"and":[15,27,53,123,202],"strongly":[16],"coupled":[17],"due":[18],"to":[19,63,73,94,110,145],"interaction":[21],"inertial,":[24],"centripetal,":[25],"coriolis":[26],"gravitational":[28],"forces.":[29],"These":[30,44],"produce":[32],"difficulties":[33],"in":[34,71,180,186,196,199],"predicting":[35],"dynamic":[37],"behaviour":[38,67,86,118],"given":[41],"manipulator's":[42],"structure.":[43],"interactive":[45],"forces":[46],"depend":[47],"largely":[48],"on":[49,160,204],"geometrical":[51],"configuration":[52],"operational":[54],"conditions":[55,70],"manipulator.":[58],"Therefore,":[59],"it":[60],"is":[61,158,183],"essential":[62],"investigate":[64],"under":[68],"different":[69],"order":[72],"obtain":[74],"an":[75],"optimal":[76],"design.":[77,152],"This":[78,139],"paper":[79],"presents":[80],"study":[82,182],"robot's":[89,121],"arm":[90,122],"with":[91,127],"particular":[92],"reference":[93],"designed":[99],"by":[100],"AEAC.":[102],"A":[103,170],"computer":[104],"software":[105,154,190],"package":[106,140,157],"has":[107],"been":[108],"developed":[109],"facilitate":[111],"investigation":[113],"potential":[116],"provides":[124],"designer":[126,144],"useful":[128],"information":[129],"for":[130,191],"real":[132],"time":[133],"control":[134],"high":[136],"performance":[137],"robots.":[138],"also":[141,184],"enables":[142],"closely":[146],"monitor":[147],"implications":[149],"his":[151],"this":[156,181,187],"based":[159],"Lagrangian":[162],"model,":[163],"taking":[164],"advantage":[165],"recursive":[168],"formulation.":[169],"brief":[171],"description":[172],"types":[175],"velocity":[177],"trajectories":[178],"used":[179],"included":[185],"paper.":[188],"modelling":[193],"was":[194],"written":[195],"FORTRAN":[197],"77":[198],"single":[200],"precision":[201],"run":[203],"UNIVAC":[206],"operating":[207],"system.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
