{"id":"https://openalex.org/W2023176266","doi":"https://doi.org/10.1017/s0263574797000362","title":"Task space dynamic analysis for multi-arm robot using isotropic velocity and acceleration radii","display_name":"Task space dynamic analysis for multi-arm robot using isotropic velocity and acceleration radii","publication_year":1997,"publication_date":"1997-05-01","ids":{"openalex":"https://openalex.org/W2023176266","doi":"https://doi.org/10.1017/s0263574797000362","mag":"2023176266"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574797000362","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574797000362","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/A5110040670","display_name":"Choong-Young Kim","orcid":null},"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"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Choong-Young Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-dong, Yusung-Gu, Taejon, 305-701, Korea","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-Dong, Yusung-Gu, Taejon, 305-701, Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-dong, Yusung-Gu, Taejon, 305-701, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-Dong, Yusung-Gu, Taejon, 305-701, Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100561454","display_name":"Yong\u2013San Yoon","orcid":null},"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"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-San Yoon","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-dong, Yusung-Gu, Taejon, 305-701, Korea","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-Dong, Yusung-Gu, Taejon, 305-701, Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-dong, Yusung-Gu, Taejon, 305-701, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusung-Dong, Yusung-Gu, Taejon, 305-701, Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":0.7383,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71884447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"15","issue":"3","first_page":"319","last_page":"329"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9976999759674072,"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":0.9970999956130981,"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/acceleration","display_name":"Acceleration","score":0.8423207998275757},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5819442868232727},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.5685704350471497},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5414566397666931},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5031835436820984},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4793582558631897},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.4546350836753845},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.45456790924072266},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.41138195991516113},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.39009982347488403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37546291947364807},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.3542242646217346},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2519495487213135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2506048083305359},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.08706724643707275}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8423207998275757},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5819442868232727},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.5685704350471497},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5414566397666931},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5031835436820984},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4793582558631897},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.4546350836753845},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.45456790924072266},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.41138195991516113},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.39009982347488403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37546291947364807},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3542242646217346},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2519495487213135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2506048083305359},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.08706724643707275},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574797000362","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574797000362","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1510918013","https://openalex.org/W1864838508","https://openalex.org/W1973052323","https://openalex.org/W2003531964","https://openalex.org/W2025672859","https://openalex.org/W2049410986","https://openalex.org/W2055406233","https://openalex.org/W2062653996","https://openalex.org/W2098502158","https://openalex.org/W2102706507","https://openalex.org/W2103503944","https://openalex.org/W2112474089","https://openalex.org/W2152882024","https://openalex.org/W2173462388","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2794789911","https://openalex.org/W4298134547","https://openalex.org/W2122976425","https://openalex.org/W2088773039","https://openalex.org/W2028697747","https://openalex.org/W4382753160","https://openalex.org/W2284229495","https://openalex.org/W4320084277","https://openalex.org/W2112389631","https://openalex.org/W2103107162"],"abstract_inverted_index":{"Isotropic":[0],"velocity":[1,27,47,123],"radius":[2,7],"(IVR)":[3,8],"and":[4,52,122],"isotropic":[5],"acceleration":[6,39,56,120],"are":[9,32,115],"proposed":[10,113],"as":[11,24],"local":[12],"performance":[13,30],"indices":[14],"to":[15,64],"quantify":[16],"the":[17,26,35,38,42,49,55,58,75,84,89,112,119],"dynamic":[18],"responsiveness":[19],"of":[20,37,44,48,57,86,94,125],"a":[21,103,126],"multi-arm":[22,91,127],"robot":[23,92,105],"regards":[25],"effects.":[28],"These":[29],"measures":[31,72],"defined":[33],"on":[34],"basis":[36],"set":[40],"describing":[41],"effects":[43,124],"actuator":[45],"torques,":[46],"manipulated":[50],"object,":[51],"gravity":[53],"upon":[54],"object.":[59],"An":[60],"algorithm":[61],"is":[62],"presented":[63],"obtain":[65],"an":[66],"explicit":[67],"expression":[68],"for":[69,88,102],"calculating":[70],"these":[71],"by":[73],"decomposing":[74],"torque-related":[76],"non-square":[77],"matrix":[78],"into":[79],"square":[80],"matrices":[81],"without":[82],"using":[83],"concept":[85],"pseudo-inverse":[87],"planar":[90,104],"composed":[93],"arms":[95,109],"each":[96],"with":[97,106],"two":[98,107],"joints.":[99],"Numerical":[100],"examples":[101],"2R":[108],"show":[110],"that":[111],"concepts":[114],"effective":[116],"in":[117],"representing":[118],"capability":[121],"robot.":[128]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
