{"id":"https://openalex.org/W2035680690","doi":"https://doi.org/10.1017/s0263574700009334","title":"Differential relationship of kinematic model and speed control strategies for a computer-controlled robot manipulator","display_name":"Differential relationship of kinematic model and speed control strategies for a computer-controlled robot manipulator","publication_year":1986,"publication_date":"1986-07-01","ids":{"openalex":"https://openalex.org/W2035680690","doi":"https://doi.org/10.1017/s0263574700009334","mag":"2035680690"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700009334","doi":"https://doi.org/10.1017/s0263574700009334","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700009334","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,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1"],"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"},"volume":null,"type":"article","is_traditional":true,"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/A5012006045","display_name":"C. Y. Ho","orcid":"https://orcid.org/0009-0009-5343-1924","observed_orcids":["https://orcid.org/0009-0009-5343-1924"]},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Y. Ho","raw_affiliation_strings":["Department of Computer Science, University of Missouri-Rolla, Rolla, Missouri 65401 (U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Missouri-Rolla, Rolla, Missouri 65401 (U.S.A","institution_ids":["https://openalex.org/I20382870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058401823","display_name":"Jen Sriwattanathamma","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I20382870","display_name":"Missouri University of Science and Technology","ror":"https://ror.org/00scwqd12","country_code":"US","type":"education","lineage":["https://openalex.org/I20382870"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sriwattanathamma Jen","raw_affiliation_strings":["Department of Computer Science, University of Missouri-Rolla, Rolla, Missouri 65401 (U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Missouri-Rolla, Rolla, Missouri 65401 (U.S.A","institution_ids":["https://openalex.org/I20382870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I20382870"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":1.5026,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.8179082,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":"3","first_page":"155","last_page":"162"},"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":0.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0,"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/robot-manipulator-kinematics","display_name":"manipulator kinematics","score":0.8859999775886536},{"id":"https://openalex.org/keywords/differential-kinematics","display_name":"differential kinematics","score":0.5820000171661377},{"id":"https://openalex.org/keywords/velocity-transformation","display_name":"velocity transformation","score":0.5979999899864197},{"id":"https://openalex.org/keywords/moving-coordinate-system","display_name":"moving coordinate system","score":0.7979999780654907},{"id":"https://openalex.org/keywords/inverse-jacobian","display_name":"inverse Jacobian","score":0.7179999947547913},{"id":"https://openalex.org/keywords/speed-control","display_name":"speed control","score":0.8080000281333923},{"id":"https://openalex.org/keywords/computer-controlled-robot","display_name":"computer-controlled robot","score":0.5529999732971191},{"id":"https://openalex.org/keywords/end-effector-velocity","display_name":"end-effector velocity","score":0.5460000038146973}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7658084630966187},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6843569278717041},{"id":"https://openalex.org/C81901731","wikidata":"https://www.wikidata.org/wiki/Q331348","display_name":"Overdetermined system","level":2,"score":0.6272568702697754},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6050921082496643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5649584531784058},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5452225804328918},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.43644917011260986},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43425416946411133},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4322658181190491},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41665270924568176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.312558114528656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2575783133506775},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24204933643341064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22425445914268494},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700009334","doi":"https://doi.org/10.1017/s0263574700009334","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700009334","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,"listed_in":["cwts-core","dongbi-d","jufo-1","norway-1","poland-70","russia-white-list-1"],"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":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1141517530","https://openalex.org/W1582353822","https://openalex.org/W2144230201","https://openalex.org/W2147243899","https://openalex.org/W2260859552","https://openalex.org/W2479989635","https://openalex.org/W4241187624"],"related_works":["https://openalex.org/W7220078950","https://openalex.org/W2495864741","https://openalex.org/W40042469","https://openalex.org/W4284671797","https://openalex.org/W2136470108","https://openalex.org/W2165977608","https://openalex.org/W2029123566","https://openalex.org/W1141517530","https://openalex.org/W2061741397","https://openalex.org/W2380762591"],"abstract_inverted_index":{"Summary":[0],"This":[1],"paper":[2,70],"describes":[3],"a":[4,9,13,29,65],"new":[5],"approach":[6],"to":[7,37],"obtaining":[8],"differential":[10],"relationship":[11,48],"of":[12,32,40,49,87,89,93],"robot":[14,79],"manipulator":[15],"via":[16],"the":[17,35,38,41,47,59,73,84],"Theoretical":[18],"Kinematics":[19],"method":[20,27],"which":[21],"may":[22],"expedite":[23],"computational":[24],"efforts.":[25],"The":[26,53],"involves":[28],"successive":[30],"transformation":[31],"velocities":[33],"from":[34],"end-effector":[36],"base":[39],"manipulator,":[42],"link":[43],"by":[44],"link,":[45],"using":[46],"moving":[50],"coordinate":[51],"systems.":[52],"equations":[54],"obtained":[55],"are":[56],"written":[57],"in":[58],"form":[60],"suitable":[61],"for":[62,77],"programming":[63],"on":[64],"digital":[66],"computer.":[67],"Furthermore,":[68],"this":[69],"also":[71],"discusses":[72],"speed":[74],"control":[75],"model":[76],"general":[78],"manipulators":[80],"and":[81,91],"together":[82],"presents":[83],"Inverse":[85],"Jacobian":[86],"cases":[88],"underdetermined":[90],"overdetermined":[92],"joint-controlled":[94],"variables.":[95]},"counts_by_year":[],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}
