{"id":"https://openalex.org/W2038058015","doi":"https://doi.org/10.1017/s0263574700015605","title":"On the Dynamic Characteristics of a Redesigned Robot","display_name":"On the Dynamic Characteristics of a Redesigned Robot","publication_year":1991,"publication_date":"1991-01-01","ids":{"openalex":"https://openalex.org/W2038058015","doi":"https://doi.org/10.1017/s0263574700015605","mag":"2038058015"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700015605","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700015605","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/A5070990120","display_name":"H. S. Park","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. S. Park","raw_affiliation_strings":["Manager, Production Engineering R&D Center, Samsung Electronics Co. Ltd., Suwon (South Korea","* Manager, Production Engineering R&D Center, Samsung Electronics Co. Ltd., Suwon (South Korea)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Manager, Production Engineering R&D Center, Samsung Electronics Co. Ltd., Suwon (South Korea","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"* Manager, Production Engineering R&D Center, Samsung Electronics Co. Ltd., Suwon (South Korea)","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113650290","display_name":"H. S. Cho","orcid":"https://orcid.org/0009-0009-8586-2681"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"H. S. Cho","raw_affiliation_strings":["Professer, Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, Seoul (South Korea","\u2020 Professer, Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, Seoul (South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Professer, Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, Seoul (South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"\u2020 Professer, Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O. Box 150, Cheongryang, Seoul (South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.21897348,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"9","issue":"1","first_page":"93","last_page":"98"},"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":0.9965999722480774,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.7667230367660522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7192844152450562},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6040764451026917},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.592513918876648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5837834477424622},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5601929426193237},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5379133820533752},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5187171101570129},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.497207909822464},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.48569878935813904},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45152348279953003},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4419369101524353},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.42844802141189575},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4230685532093048},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3564932942390442},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2980438470840454},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26996099948883057},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22387859225273132},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2129592001438141},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11823108792304993},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.10302835702896118},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10256898403167725},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07021206617355347}],"concepts":[{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.7667230367660522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7192844152450562},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6040764451026917},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.592513918876648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5837834477424622},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5601929426193237},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5379133820533752},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5187171101570129},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.497207909822464},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.48569878935813904},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45152348279953003},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4419369101524353},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.42844802141189575},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4230685532093048},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3564932942390442},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2980438470840454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26996099948883057},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22387859225273132},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2129592001438141},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11823108792304993},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.10302835702896118},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10256898403167725},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07021206617355347},{"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/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/s0263574700015605","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700015605","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":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1980508347","https://openalex.org/W1990980660","https://openalex.org/W2018143046","https://openalex.org/W2056615656","https://openalex.org/W2066662451","https://openalex.org/W2099945039","https://openalex.org/W2128135221","https://openalex.org/W2164987239","https://openalex.org/W3025028790","https://openalex.org/W6675169684"],"related_works":["https://openalex.org/W3044674998","https://openalex.org/W2108575589","https://openalex.org/W2139206564","https://openalex.org/W1505290414","https://openalex.org/W1929150788","https://openalex.org/W4388893656","https://openalex.org/W2605331264","https://openalex.org/W4200577393","https://openalex.org/W4255006717","https://openalex.org/W4231506980"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1,110],"robotic":[2],"manipulator":[3],"is":[4,12,32,114],"usually":[5],"a":[6,60],"very":[7,33],"complicated":[8,14],"system":[9],"whose":[10,30],"dynamics":[11,31],"too":[13],"time":[15],"consuming":[16],"for":[17,25],"real-time":[18],"control.":[19],"The":[20,54],"authors":[21],"propose":[22],"general":[23],"criteria":[24],"designing":[26],"an":[27,48],"ideal":[28],"robot":[29,51,75,86],"much":[34],"simpler":[35],"than":[36],"that":[37],"of":[38,47,72,83,97],"the":[39,67,73,84,92,98,108,118],"conventional":[40,121],"one.":[41],"In":[42],"this":[43],"paper,":[44],"dynamic":[45,70,81],"characteristics":[46,82],"ideally":[49],"designed":[50],"are":[52,87],"investigated.":[53],"design":[55,68],"guidelines":[56],"were":[57,76],"applied":[58],"to":[59,91],"6-degree-of-freedom":[61],"PUMA":[62],"560":[63],"robot.":[64],"Based":[65],"upon":[66],"concept":[69],"equations":[71],"redesigned":[74,85,119],"derived.":[77],"Utilizing":[78],"these":[79],"equations,":[80],"investigated":[88],"with":[89],"respect":[90],"computation":[93],"efforts":[94],"required,":[95],"variation":[96],"inertia":[99],"matrix,":[100],"joint":[101],"input":[102],"torque":[103],"chracteristics,":[104],"and":[105,120],"couplings":[106],"between":[107,117],"joints.":[109],"detailed":[111],"comparison":[112],"study":[113],"also":[115],"made":[116],"robots.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}