{"id":"https://openalex.org/W2171100366","doi":"https://doi.org/10.1002/(sici)1097-4563(199804)15:4<207::aid-rob3>3.0.co;2-t","title":"On the kinematics of multiple manipulator space free-flyers and their computation","display_name":"On the kinematics of multiple manipulator space free-flyers and their computation","publication_year":1998,"publication_date":"1998-04-01","ids":{"openalex":"https://openalex.org/W2171100366","doi":"https://doi.org/10.1002/(sici)1097-4563(199804)15:4<207::aid-rob3>3.0.co;2-t","mag":"2171100366"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199804)15:4<207::aid-rob3>3.0.co;2-t","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199804)15:4<207::aid-rob3>3.0.co;2-t","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":true,"oa_status":"green","oa_url":"http://hdl.handle.net/123456789/12815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009324734","display_name":"S. Ali A. Moosavian","orcid":"https://orcid.org/0000-0002-9117-7615"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S. Ali A. Moosavian","raw_affiliation_strings":["Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107431764","display_name":"Evangelos Papadopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Evangelos Papadopoulos","raw_affiliation_strings":["Department of Mechanical Engineering, National Technical University, 15773 Zografou, Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Technical University, 15773 Zografou, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5107431764"],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.68463389,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"15","issue":"4","first_page":"207","last_page":"216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10325","display_name":"Astro and Planetary Science","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10406","display_name":"Planetary Science and Exploration","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6903725862503052},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5922136306762695},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.584307074546814},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5698204040527344},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.524860143661499},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5215182900428772},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4894498884677887},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48196861147880554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4543837308883667},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45373857021331787},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4501965045928955},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.43914148211479187},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34791630506515503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24373525381088257},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2390499711036682},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.21386435627937317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21256020665168762},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2110426127910614},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17871347069740295},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17280793190002441}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6903725862503052},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5922136306762695},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.584307074546814},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5698204040527344},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.524860143661499},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5215182900428772},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4894498884677887},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48196861147880554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4543837308883667},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45373857021331787},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4501965045928955},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.43914148211479187},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34791630506515503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24373525381088257},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2390499711036682},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.21386435627937317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21256020665168762},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2110426127910614},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17871347069740295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17280793190002441},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199804)15:4<207::aid-rob3>3.0.co;2-t","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199804)15:4<207::aid-rob3>3.0.co;2-t","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"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/12815","is_oa":true,"landing_page_url":"http://hdl.handle.net/123456789/12815","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotic Systems","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/12815","is_oa":true,"landing_page_url":"http://hdl.handle.net/123456789/12815","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotic Systems","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1499655155","https://openalex.org/W2009261347","https://openalex.org/W2088961452","https://openalex.org/W2105229687","https://openalex.org/W2112096282","https://openalex.org/W2115706193","https://openalex.org/W2119968060","https://openalex.org/W2120231561","https://openalex.org/W2144305001","https://openalex.org/W2155985001","https://openalex.org/W2163949987","https://openalex.org/W3199817910"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2333571655","https://openalex.org/W3004930912","https://openalex.org/W2104320275","https://openalex.org/W2111158727","https://openalex.org/W1510039162","https://openalex.org/W2112736381","https://openalex.org/W2106317420","https://openalex.org/W2120794627","https://openalex.org/W2107702345"],"abstract_inverted_index":{"In":[0,18],"this":[1],"article,":[2],"two":[3,103,162],"basic":[4],"approaches":[5,104,163],"for":[6,37,89,130,178],"kinematics":[7],"modelling":[8,131],"of":[9,25,27,41,47,58,83,93,98,101,113,138],"multiple":[10,132],"manipulator":[11],"space":[12,147],"free-flying":[13,142,148],"robots":[14],"(SFFRs)":[15],"are":[16,61,115],"developed.":[17],"the":[19,23,28,38,42,59,64,67,77,86,90,94,102,121,136,161,170],"barycentric":[20],"vector":[21],"approach,":[22],"center":[24,82],"mass":[26,56],"whole":[29],"system":[30,60,149,155],"is":[31,118,125,150,164],"taken":[32],"as":[33,85,152],"a":[34,45,74,126,153,157],"representative":[35,87],"point":[36,75,88],"translational":[39,91],"motion":[40,92],"system,":[43],"and":[44,55,109,156,180],"set":[46],"body-fixed":[48],"vectors":[49],"which":[50],"reflect":[51],"both":[52],"geometric":[53],"configuration":[54],"distribution":[57],"used.":[62],"On":[63],"other":[65],"hand,":[66],"direct":[68,122,171],"path":[69,123,172],"method":[70,124,173],"relies":[71],"on":[72,76],"taking":[73],"base":[78],"body":[79],"(preferably":[80],"its":[81],"mass)":[84],"system.":[95],"The":[96,166],"consequences":[97],"using":[99],"each":[100],"in":[105,110,135],"deriving":[106],"dynamics":[107],"equations":[108],"control":[111],"design":[112],"SFFRs":[114],"discussed.":[116],"It":[117],"revealed":[119],"that":[120,169],"more":[127],"appropriate":[128],"approach":[129],"arm":[133],"systems,":[134],"presence":[137],"external":[139],"forces/torques":[140],"(i.e.,":[141],"mode).":[143],"A":[144],"14":[145],"degree-of-freedom":[146],"considered":[151],"benchmark":[154],"quantitative":[158],"comparison":[159],"between":[160],"presented.":[165],"results":[167],"show":[168],"requires":[174],"significantly":[175],"less":[176],"computations":[177],"position":[179],"velocity":[181],"analyses.":[182],"\u00a9":[183],"1998":[184],"John":[185],"Wiley":[186],"&":[187],"Sons,":[188],"Inc.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
