The DOI matches its Crossref record; 6 of the 6 references it cites were found in a registry or an index.
A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity
Abstract
An efficent Lagangian formulation of manipulator dynamics has been developed. The efficiency derives from recurrence relatons for the velocities, accelerations, and generalized forces. The number of additons and multiplicatins varies linearly with the number of joint, as opposed to past Lagrangian dynamics formulations with an n4 dependence. Wih this formulation it should be possible in principle to compute the Lagrangian dynamics in real time. The computational complexities of this and other dynamics formulations including rect Newton-Euler formulations and tabular formulations are compared. It Is concluded that recursive formultions based either on the Lagrangian or Newton-Euler dynamics offer the best method of dynamns calculation.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
Albus, J. S. (1975) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3426922 · Cited by 2,177
On-Line Computational Scheme for Mechanical Manipulators
Luh, J. Y. S., Walker, M. W., & Paul, R. P. C. (1980) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3149599 · Cited by 1,585
Data Storage in the Cerebellar Model Articulation Controller (CMAC)
Albus, J. S. (1975) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3426923 · Cited by 707
Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm
Paul, R. (1972) · Defense Technical Information Center (DTIC) · doi:10.21236/ad0785071 · Cited by 362
Manipulator Cartesian Path Control
Paul, R. P. (1979) · IEEE Transactions on Systems Man and Cybernetics · doi:10.1109/tsmc.1979.4310109 · Cited by 208
A model for sensorimotor control and learning
Raibert, M. H. (1978) · Biological Cybernetics · doi:10.1007/bf00365233 · Cited by 94
Cited by
Compliance and Force Control for Computer Controlled Manipulators
Mason, M. T. (1981) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1981.4308708 · Cited by 1,542
Solving Bernstein's Problem: A Proposal for the Development of Coordinated Movement by Selection
Sporns, O., & Edelman, G. M. (1993) · Child Development · doi:10.1111/j.1467-8624.1993.tb04182.x · Cited by 38
Metadata
- Authors
- Hollerbach, J. M.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics
- Published
- 1980
- Volume
- 10
- Issue
- 11
- Pages
- 730-736
- ISSN
- 0018-9472 (ISSN-L)
- OpenAlex
- W2080017937
- Cited by
- 874
- References
- 6
- FWCI
- 40.75
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity. https://app.cochat.ai/papers/10.1109/tsmc.1980.4308393
- The paper
- Hollerbach, J. M. (1980). A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity. IEEE Transactions on Systems, Man, and Cybernetics. https://doi.org/10.1109/tsmc.1980.4308393
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
