{"id":"https://openalex.org/W2100300790","doi":"https://doi.org/10.1017/s0263574700009061","title":"An efficient procedure for generating dynamic manipulator models","display_name":"An efficient procedure for generating dynamic manipulator models","publication_year":1985,"publication_date":"1985-09-01","ids":{"openalex":"https://openalex.org/W2100300790","doi":"https://doi.org/10.1017/s0263574700009061","mag":"2100300790"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700009061","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700009061","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/A5110296223","display_name":"Miomir Vukobratovi\u0107","orcid":"https://orcid.org/0000-0001-8596-6426"},"institutions":[{"id":"https://openalex.org/I10572248","display_name":"Institut Mihajlo Pupin","ror":"https://ror.org/00jk2b778","country_code":"RS","type":"facility","lineage":["https://openalex.org/I10572248","https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"M. Vukobratovi\u0107","raw_affiliation_strings":["Institute Mihailo Pupin, P.O. Box 15, Beograd (Yugoslavia","Institute Mihailo Pupin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute Mihailo Pupin, P.O. Box 15, Beograd (Yugoslavia","institution_ids":["https://openalex.org/I10572248"]},{"raw_affiliation_string":"Institute Mihailo Pupin","institution_ids":["https://openalex.org/I10572248"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088172355","display_name":"Shigang Li","orcid":"https://orcid.org/0000-0003-0022-7865"},"institutions":[{"id":"https://openalex.org/I10572248","display_name":"Institut Mihajlo Pupin","ror":"https://ror.org/00jk2b778","country_code":"RS","type":"facility","lineage":["https://openalex.org/I10572248","https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Shi-Gang Li","raw_affiliation_strings":["Institute Mihailo Pupin, P.O. Box 15, Beograd (Yugoslavia","Institute Mihailo Pupin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute Mihailo Pupin, P.O. Box 15, Beograd (Yugoslavia","institution_ids":["https://openalex.org/I10572248"]},{"raw_affiliation_string":"Institute Mihailo Pupin","institution_ids":["https://openalex.org/I10572248"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110680056","display_name":"N. Kir\u0107anski","orcid":null},"institutions":[{"id":"https://openalex.org/I10572248","display_name":"Institut Mihajlo Pupin","ror":"https://ror.org/00jk2b778","country_code":"RS","type":"facility","lineage":["https://openalex.org/I10572248","https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"N. Kir\u0107anski","raw_affiliation_strings":["Institute Mihailo Pupin, P.O. Box 15, Beograd (Yugoslavia","Institute Mihailo Pupin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute Mihailo Pupin, P.O. Box 15, Beograd (Yugoslavia","institution_ids":["https://openalex.org/I10572248"]},{"raw_affiliation_string":"Institute Mihailo Pupin","institution_ids":["https://openalex.org/I10572248"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I10572248"],"apc_list":null,"apc_paid":null,"fwci":3.1389,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.91558358,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":"3","first_page":"147","last_page":"152"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/revolute-joint","display_name":"Revolute joint","score":0.8914371728897095},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6270027160644531},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5624034404754639},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.5592030882835388},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5423146486282349},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5261811017990112},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4921795427799225},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4626186192035675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39782440662384033},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38797426223754883},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33209460973739624},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.32938244938850403},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1301170289516449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10293015837669373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08653980493545532},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06777530908584595},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06728214025497437},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06296965479850769},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05321401357650757}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.8914371728897095},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6270027160644531},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5624034404754639},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.5592030882835388},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5423146486282349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5261811017990112},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4921795427799225},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4626186192035675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39782440662384033},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38797426223754883},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33209460973739624},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.32938244938850403},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1301170289516449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10293015837669373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08653980493545532},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06777530908584595},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06728214025497437},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06296965479850769},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05321401357650757},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700009061","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700009061","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":16,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W1966552874","https://openalex.org/W1968717832","https://openalex.org/W1977896318","https://openalex.org/W2018964743","https://openalex.org/W2026456609","https://openalex.org/W2051755119","https://openalex.org/W2051783101","https://openalex.org/W2080017937","https://openalex.org/W2082616311","https://openalex.org/W2096141213","https://openalex.org/W2102642497","https://openalex.org/W4251581303","https://openalex.org/W6642515923","https://openalex.org/W6663201824","https://openalex.org/W6996235369"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W1980749193","https://openalex.org/W2899776278","https://openalex.org/W2116626317","https://openalex.org/W2790463165","https://openalex.org/W2065877964","https://openalex.org/W2227749511","https://openalex.org/W3132322604"],"abstract_inverted_index":{"SUMMARY":[0],"An":[1],"iterative":[2,28],"procedure":[3,21],"for":[4],"obtaining":[5],"dynamic":[6,31,41,66],"model":[7,42,67],"of":[8,19,27,30,53,74],"manipulator":[9],"has":[10],"been":[11],"proposed":[12],"in":[13],"this":[14],"paper.":[15],"The":[16],"high":[17],"efficiency":[18],"the":[20,25,39,64,72],"is":[22,68],"reached":[23],"on":[24],"basis":[26],"relations":[29],"parameters.":[32],"For":[33],"general":[34],"six":[35],"revolute":[36],"joint":[37,54],"manipulator,":[38],"complete":[40,65],"i.e.":[43],"matrices":[44],"H":[45],"(q),":[46,48],"C":[47],"G":[49],"(q)":[50],"and":[51,60,80],"vector":[52],"torques":[55],"13.":[56,71],"requires":[57],"992":[58],"multiplications":[59,79],"776":[61],"additions.":[62,82],"When":[63],"given":[69],"by":[70],"number":[73],"operations":[75],"reduces":[76],"to":[77],"863":[78],"773":[81]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}