{"id":"https://openalex.org/W2034069654","doi":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<471::aid-rob1>3.0.co;2-c","title":"Constrained robot dynamics I: Serial robots with end-effector constraints","display_name":"Constrained robot dynamics I: Serial robots with end-effector constraints","publication_year":1999,"publication_date":"1999-09-01","ids":{"openalex":"https://openalex.org/W2034069654","doi":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<471::aid-rob1>3.0.co;2-c","mag":"2034069654"},"language":"en","primary_location":{"id":"doi:10.1002/(sici)1097-4563(199909)16:9<471::aid-rob1>3.0.co;2-c","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<471::aid-rob1>3.0.co;2-c","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/A5043974014","display_name":"J. M. Selig","orcid":"https://orcid.org/0000-0002-6545-0673"},"institutions":[{"id":"https://openalex.org/I28257850","display_name":"London South Bank University","ror":"https://ror.org/02vwnat91","country_code":"GB","type":"education","lineage":["https://openalex.org/I28257850"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"J. M. Selig","raw_affiliation_strings":["School of Computing, Information Systems and Mathematics, South Bank University, London SE1 0AA, United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computing, Information Systems and Mathematics, South Bank University, London SE1 0AA, United Kingdom","institution_ids":["https://openalex.org/I28257850"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019369861","display_name":"P. R. Mc\u0102ree","orcid":"https://orcid.org/0000-0001-9259-0615"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"P. R. McAree","raw_affiliation_strings":["Department of Engineering Science, Oxford University, Oxford OX1 3PJ, United Kingdom","Department of Engineering Science, Oxford University, Oxford?OX1?3PJ, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Science, Oxford University, Oxford OX1 3PJ, United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]},{"raw_affiliation_string":"Department of Engineering Science, Oxford University, Oxford?OX1?3PJ, United Kingdom","institution_ids":["https://openalex.org/I4210146410","https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043974014"],"corresponding_institution_ids":["https://openalex.org/I28257850"],"apc_list":null,"apc_paid":null,"fwci":0.793,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74036501,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"16","issue":"9","first_page":"471","last_page":"486"},"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":0.9983000159263611,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"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/robot","display_name":"Robot","score":0.6509451866149902},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6430874466896057},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5296666026115417},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.5282280445098877},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5240530967712402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.487164705991745},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.4834357500076294},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4824957847595215},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.48053914308547974},{"id":"https://openalex.org/keywords/linear-subspace","display_name":"Linear subspace","score":0.4775834381580353},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.47611886262893677},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4629424810409546},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.44543883204460144},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43658310174942017},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3093031942844391},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23779436945915222},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1704513430595398},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13760748505592346},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12413957715034485},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.12071356177330017}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6509451866149902},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6430874466896057},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5296666026115417},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.5282280445098877},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5240530967712402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.487164705991745},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.4834357500076294},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4824957847595215},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.48053914308547974},{"id":"https://openalex.org/C12362212","wikidata":"https://www.wikidata.org/wiki/Q728435","display_name":"Linear subspace","level":2,"score":0.4775834381580353},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.47611886262893677},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4629424810409546},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.44543883204460144},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43658310174942017},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3093031942844391},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23779436945915222},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1704513430595398},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13760748505592346},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12413957715034485},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.12071356177330017},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/(sici)1097-4563(199909)16:9<471::aid-rob1>3.0.co;2-c","is_oa":false,"landing_page_url":"https://doi.org/10.1002/(sici)1097-4563(199909)16:9<471::aid-rob1>3.0.co;2-c","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:espace.library.uq.edu.au:UQ:307706","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402388","display_name":"Queensland's institutional digital repository (The University of Queensland)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165143802","host_organization_name":"The University of Queensland","host_organization_lineage":["https://openalex.org/I165143802"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","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":10,"referenced_works":["https://openalex.org/W1566463023","https://openalex.org/W1569094508","https://openalex.org/W1964177783","https://openalex.org/W1984481333","https://openalex.org/W2004787402","https://openalex.org/W2006028399","https://openalex.org/W2107148774","https://openalex.org/W2148395693","https://openalex.org/W4205619206","https://openalex.org/W4386086864"],"related_works":["https://openalex.org/W1593123930","https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W2365582959","https://openalex.org/W2717412651","https://openalex.org/W2363850121","https://openalex.org/W2147349727","https://openalex.org/W2007583701","https://openalex.org/W2113830208","https://openalex.org/W2373060873"],"abstract_inverted_index":{"We":[0,16],"examine":[1],"the":[2,26,31,46,61,76],"rigid-body":[3,34],"dynamics":[4,47],"of":[5,23,33,45,48],"serial":[6],"robots":[7],"subject":[8],"to":[9,40,59,80],"time-invariant":[10],"holonomic":[11],"constraints":[12,24],"on":[13,75,82],"their":[14],"end-effectors.":[15],"begin":[17],"by":[18],"looking":[19],"at":[20],"several":[21],"examples":[22,56],"and":[25,68],"subspaces":[27],"they":[28],"determine":[29],"in":[30],"group":[32],"displacements.":[35],"This":[36],"preparation":[37],"allows":[38],"us":[39],"give":[41],"a":[42,64,69,73,83],"general":[43],"description":[44],"kinematic":[49],"chains":[50],"with":[51,72],"constrained":[52,79],"terminal":[53],"links.":[54],"Two":[55],"are":[57],"given":[58],"illustrate":[60],"main":[62],"ideas:":[63],"planar":[65],"four-bar":[66],"mechanism":[67],"3-joint":[70],"robot":[71],"point":[74],"final":[77],"link":[78],"lie":[81],"line.":[84],"\u00a91999":[85],"John":[86],"Wiley":[87],"&":[88],"Sons,":[89],"Inc.":[90]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
