{"id":"https://openalex.org/W2099910319","doi":"https://doi.org/10.1002/(sici)1097-4563(199609)13:9<587::aid-rob3>3.0.co;2-i","title":"Forward displacement analysis and uncertainty configurations of parallel manipulators with a redundant branch","display_name":"Forward displacement analysis and uncertainty configurations of parallel manipulators with a redundant branch","publication_year":1996,"publication_date":"1996-09-01","ids":{"openalex":"https://openalex.org/W2099910319","doi":"https://doi.org/10.1002/(sici)1097-4563(199609)13:9<587::aid-rob3>3.0.co;2-i","mag":"2099910319"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199609)13:9<587::aid-rob3>3.0.co;2-i","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199609)13:9<587::aid-rob3>3.0.co;2-i","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","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/A5005003540","display_name":"Leila Notash","orcid":"https://orcid.org/0000-0002-3536-1688"},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Leila Notash","raw_affiliation_strings":["Department of Industrial & Manufacturing Systems Engineering, University of Windsor, Windsor, Ontario, Canada N9B 3P4","Department of Industrial and Manufacturing Systems Engineering, University of Windsor, Windsor, Ontario, Canada N9B 3P4"],"affiliations":[{"raw_affiliation_string":"Department of Industrial & Manufacturing Systems Engineering, University of Windsor, Windsor, Ontario, Canada N9B 3P4","institution_ids":["https://openalex.org/I74413500"]},{"raw_affiliation_string":"Department of Industrial and Manufacturing Systems Engineering, University of Windsor, Windsor, Ontario, Canada N9B 3P4","institution_ids":["https://openalex.org/I74413500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068474032","display_name":"Ron P. Podhorodeski","orcid":null},"institutions":[{"id":"https://openalex.org/I212119943","display_name":"University of Victoria","ror":"https://ror.org/04s5mat29","country_code":"CA","type":"education","lineage":["https://openalex.org/I212119943"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ron P. Podhorodeski","raw_affiliation_strings":["Department of Mechanical Engineering, University of Victoria, Victoria, B.C., Canada V8W 3P6","Department of Mechanical Engineering, University of Victoria, Victoria, B. C. Canada V8W 3P6"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Victoria, Victoria, B.C., Canada V8W 3P6","institution_ids":["https://openalex.org/I212119943"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Victoria, Victoria, B. C. Canada V8W 3P6","institution_ids":["https://openalex.org/I212119943"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005003540"],"corresponding_institution_ids":["https://openalex.org/I74413500"],"apc_list":null,"apc_paid":null,"fwci":1.6584,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.84309667,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"13","issue":"9","first_page":"587","last_page":"601"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9884999990463257,"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/revolute-joint","display_name":"Revolute joint","score":0.9366360902786255},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6061801910400391},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5572637319564819},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5143660306930542},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48559683561325073},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4471396505832672},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4220293164253235},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.3889080882072449},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3667401075363159},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34760263562202454},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3277595043182373},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31503793597221375},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.27036115527153015},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17532122135162354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10622799396514893}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9366360902786255},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6061801910400391},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5572637319564819},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5143660306930542},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48559683561325073},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4471396505832672},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4220293164253235},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.3889080882072449},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3667401075363159},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34760263562202454},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3277595043182373},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31503793597221375},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.27036115527153015},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17532122135162354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10622799396514893},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199609)13:9<587::aid-rob3>3.0.co;2-i","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199609)13:9<587::aid-rob3>3.0.co;2-i","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1519934244","https://openalex.org/W1597009130","https://openalex.org/W1909850823","https://openalex.org/W1992810839","https://openalex.org/W2018163174","https://openalex.org/W2024981539","https://openalex.org/W2030374020","https://openalex.org/W2035464910","https://openalex.org/W2039446760","https://openalex.org/W2041158513","https://openalex.org/W2044933794","https://openalex.org/W2050716117","https://openalex.org/W2064071544","https://openalex.org/W2067236171","https://openalex.org/W2077129956","https://openalex.org/W2093793150","https://openalex.org/W2107585849","https://openalex.org/W2110647104","https://openalex.org/W2124860692","https://openalex.org/W2125497630","https://openalex.org/W2166263619","https://openalex.org/W2171645363","https://openalex.org/W3151260650","https://openalex.org/W4233868670","https://openalex.org/W6631364361","https://openalex.org/W6794027885"],"related_works":["https://openalex.org/W4388343518","https://openalex.org/W3148970067","https://openalex.org/W137099297","https://openalex.org/W2047126621","https://openalex.org/W1963990040","https://openalex.org/W1995115082","https://openalex.org/W1988296917","https://openalex.org/W3114149462","https://openalex.org/W3040978121","https://openalex.org/W2103961931"],"abstract_inverted_index":{"The":[0,67,268],"effect":[1],"of":[2,9,11,14,19,29,47,51,69,86,123,126,139,142,190,219,221,232,262,270,280,308,326,348,354],"adding":[3],"a":[4,27,34,48,56,61,70,75,83,157,327],"redundant":[5,71,158,328],"branch":[6,44,64,72,91,149,329],"in":[7,80],"terms":[8],"reduction":[10,261],"the":[12,87,98,121,127,137,215,222,229,241,247,281,289,292,306,324,340,346,349],"number":[13,122,138,330],"assembly":[15,124,140,173,212,243,264],"modes":[16,141,174,213,244,265],"and":[17,105,169,181,193,208,227],"elimination":[18],"potential":[20,242,271,320,334,342],"uncertainty":[21,272,321,343],"configuration":[22,273,322,344],"types":[23,274],"is":[24,33,45,82,113,117,134,161,200,225,275,314],"investigated":[25],"for":[26,305],"class":[28,36,307],"parallel":[30,131,144],"manipulators.":[31,132],"Considered":[32,79],"broad":[35],"that":[37,136,163,202,291,300,316],"includes":[38],"all":[39,176,183,333],"three-branch":[40,143],"manipulators":[41,145,310],"where":[42,89],"each":[43],"comprised":[46],"serial":[49],"arrangement":[50],"three":[52],"main-arm":[53,102,109,217],"joints":[54,110,151,178,185,195,231],"supporting":[55],"common":[57],"payload":[58],"platform":[59],"through":[60],"passive":[62,147],"spherical":[63,148],"end":[65,150],"joint-group.":[66],"addition":[68,325],"effectively":[73],"yields":[74],"four-branch":[76,130,309],"manipulator":[77,88],"class.":[78],"particular":[81],"3\u20134":[84,129],"form":[85],"two":[90],"ends":[92],"meet":[93],"at":[94,250],"one":[95,220],"point":[96],"on":[97,277],"mobile":[99],"platform.":[100],"Symmetric":[101],"joint":[103,218],"sensing":[104],"actuation":[106],"(two":[107],"sensed/acutated":[108],"per":[111],"branch)":[112],"utilized.":[114],"Synthetic":[115],"geometry":[116],"used":[118],"to":[119,167,171,206,210],"study":[120],"configurations":[125],"resulting":[128],"It":[133,160,199,313],"presented":[135],"with":[146,288],"can":[152,294],"be":[153],"reduced":[154],"by":[155,285],"utilizing":[156],"branch.":[159],"shown":[162,315],"there":[164,203],"exist":[165],"up":[166,170,205,209],"eight":[168,207],"four":[172,211],"when":[175,182,214,228],"unsensed":[177,184,191,216,230],"are":[179,186,196,204,236,266,311,356],"revolute":[180,194],"prismatic,":[187],"respectively.":[188,239],"Combinations":[189],"prismatic":[192,226,237],"also":[197],"investigated.":[198],"determined":[201],"concurrent":[223,234],"branches":[224,235],"both":[233],"joints,":[238],"Resolving":[240],"require":[245],"only":[246],"consideration":[248],"of,":[249],"highest,":[251],"second-order":[252],"single-variable":[253],"polynomials.":[254],"In":[255],"addition,":[256],"kinematic":[257],"design":[258],"considerations":[259],"allowing":[260],"feasible":[263],"discussed.":[267,357],"investigation":[269],"based":[276],"examining":[278],"degeneracies":[279],"screw":[282],"systems":[283],"formed":[284],"wrenches":[286],"associated":[287],"forces":[290],"actuated-joints":[293],"apply.":[295],"All":[296],"linear":[297],"dependency":[298,335],"cases":[299,337],"could":[301],"potentially":[302],"cause":[303],"uncertainties":[304],"identified.":[312],"while":[317],"significantly":[318],"reducing":[319],"types,":[323,345],"cannot":[331],"eliminate":[332],"(uncertainty)":[336],"completely.":[338],"For":[339],"remaining":[341],"characteristics":[347],"corresponding":[350],"unconstrained":[351],"instantaneous":[352],"degrees":[353],"freedom":[355],"\u00a9":[358],"1996":[359],"John":[360],"Wiley":[361],"&":[362],"Sons,":[363],"Inc.":[364]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}