{"id":"https://openalex.org/W2381256239","doi":null,"title":"An Analytic and Optimal Inverse Kinematic Solution for a 7-DOF Space Manipulator","display_name":"An Analytic and Optimal Inverse Kinematic Solution for a 7-DOF Space Manipulator","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W2381256239","mag":"2381256239"},"language":"en","primary_location":{"id":"mag:2381256239","doi":null,"is_oa":false,"landing_page_url":"http://www.cqvip.com/QK/90986X/201405/662779822.html","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"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/A5111979738","display_name":"Wang","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011125984","display_name":"Ying-Shi","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ying-Shi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110694876","display_name":"Sun","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Lei Lei","orcid":"https://orcid.org/0000-0002-9144-0559","observed_orcids":["https://orcid.org/0000-0002-9144-0559"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lei Lei","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-9144-0559","affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113938788","display_name":"Wenbin","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wenbin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109813104","display_name":"Liu -","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu -","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5003162134","display_name":"Jingtai","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingtai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8884,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.8078565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":96},"biblio":{"volume":"36","issue":"5","first_page":"592","last_page":"599"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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":9.999999747378752e-05,"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"}},{"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.9959999918937683},{"id":"https://openalex.org/keywords/7-dof-manipulator","display_name":"7-DOF manipulator","score":0.8700000047683716},{"id":"https://openalex.org/keywords/redundant-manipulators","display_name":"redundant manipulators","score":0.8379999995231628},{"id":"https://openalex.org/keywords/space-manipulators","display_name":"space manipulators","score":0.8289999961853027},{"id":"https://openalex.org/keywords/analytical-solution","display_name":"analytical solution","score":0.7110000252723694},{"id":"https://openalex.org/keywords/singularity-avoidance","display_name":"singularity avoidance","score":0.5899999737739563},{"id":"https://openalex.org/keywords/joint-limits","display_name":"joint limits","score":0.9570000171661377},{"id":"https://openalex.org/keywords/online-algorithms","display_name":"online algorithms","score":0.5740000009536743}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8248279094696045},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.6679724454879761},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5703493356704712},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5599610209465027},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5221036672592163},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.49032047390937805},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4539856016635895},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4145490825176239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32993823289871216},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.19887080788612366},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12330982089042664},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09759771823883057},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0671072006225586},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05679953098297119},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"mag:2381256239","doi":null,"is_oa":false,"landing_page_url":"http://www.cqvip.com/QK/90986X/201405/662779822.html","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},{"id":"mag:3150600185","doi":null,"is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201502204159732554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W796041032","https://openalex.org/W4226262609","https://openalex.org/W2117758942","https://openalex.org/W7117993451","https://openalex.org/W2888083586","https://openalex.org/W3107603356","https://openalex.org/W4391407502","https://openalex.org/W3014767994","https://openalex.org/W4402700253","https://openalex.org/W2315694434"],"abstract_inverted_index":{"An":[0],"analytic":[1],"inverse":[2,54],"kinematic":[3,55,81],"solution":[4,56],"is":[5,47,78],"presented":[6],"for":[7],"a":[8,30],"7-DOF(degree":[9],"of":[10],"freedom)redundant":[11],"space":[12],"manipulator.The":[13],"proposed":[14,62],"method":[15,63],"can":[16,64,72],"obtain":[17],"all":[18,58],"the":[19,23,34,38,59,67],"feasible":[20,60],"solutions":[21],"in":[22,43],"global":[24],"joint":[25,31,39],"space,which":[26],"are":[27,41],"denoted":[28],"by":[29,80],"angle":[32],"parameter.Meanwhile,both":[33],"singularity":[35],"problem":[36],"and":[37],"limits":[40],"considered":[42],"detail.Besides,an":[44],"optimization":[45],"approach":[46],"provided":[48],"to":[49],"get":[50],"one":[51],"near":[52],"optimal":[53],"from":[57],"solutions.The":[61],"reduce":[65],"effectively":[66],"computational":[68],"complexity,so":[69],"that":[70],"it":[71],"be":[73],"applied":[74],"online.Finally,the":[75],"method\u2019s":[76],"validity":[77],"shown":[79],"simulations.":[82]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
