{"id":"https://openalex.org/W2039289574","doi":"https://doi.org/10.1002/rob.4620040208","title":"Robot manipulator kinematic compensation using a generalized jacobian formulation","display_name":"Robot manipulator kinematic compensation using a generalized jacobian formulation","publication_year":1987,"publication_date":"1987-04-01","ids":{"openalex":"https://openalex.org/W2039289574","doi":"https://doi.org/10.1002/rob.4620040208","mag":"2039289574"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040208","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040208","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/A5051062714","display_name":"Morris R. Driels","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Morris R. Driels","raw_affiliation_strings":["Mechanical Engineering Department, Texas A&M University, College Station, Texas 77843","Mechanical Engineering Department , Texas A&M University , College Station, Texas, 77843"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Texas A&M University, College Station, Texas 77843","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Mechanical Engineering Department , Texas A&M University , College Station, Texas, 77843","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066974637","display_name":"Uday S. Pathre","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Uday S. Pathre","raw_affiliation_strings":["Mechanical Engineering Department, Texas A&M University, College Station, Texas 77843","Mechanical Engineering Department , Texas A&M University , College Station, Texas, 77843"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Texas A&M University, College Station, Texas 77843","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Mechanical Engineering Department , Texas A&M University , College Station, Texas, 77843","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051062714"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":0.7233,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.72149644,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":"2","first_page":"259","last_page":"280"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9923999905586243,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8932497501373291},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8438237309455872},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6964839696884155},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6837226748466492},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.6368194818496704},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.5442188382148743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5116889476776123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5003981590270996},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.48761120438575745},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.47487375140190125},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.44716158509254456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44678109884262085},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.42329761385917664},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33352065086364746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3229284882545471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3222099542617798},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.08023151755332947},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.05828624963760376},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.050433337688446045}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8932497501373291},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8438237309455872},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6964839696884155},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6837226748466492},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.6368194818496704},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.5442188382148743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5116889476776123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5003981590270996},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.48761120438575745},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.47487375140190125},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.44716158509254456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44678109884262085},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.42329761385917664},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33352065086364746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3229284882545471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3222099542617798},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.08023151755332947},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05828624963760376},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.050433337688446045},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620040208","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040208","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":8,"referenced_works":["https://openalex.org/W1972959685","https://openalex.org/W1977866635","https://openalex.org/W2011948192","https://openalex.org/W2038840901","https://openalex.org/W2100790457","https://openalex.org/W2246023205","https://openalex.org/W4230620014","https://openalex.org/W4243737224"],"related_works":["https://openalex.org/W2353085251","https://openalex.org/W2349410961","https://openalex.org/W2046282300","https://openalex.org/W2361247705","https://openalex.org/W1971857528","https://openalex.org/W2040448613","https://openalex.org/W1996088900","https://openalex.org/W2091068814","https://openalex.org/W4241030939","https://openalex.org/W2159353126"],"abstract_inverted_index":{"Abstract":[0],"The":[1,45,70],"kinematic":[2,21,29],"error":[3],"compensation":[4,30],"of":[5,17,28,53,72],"robot":[6,20],"manipulators":[7],"is":[8,49],"at":[9,59],"present":[10],"being":[11],"attempted":[12],"by":[13],"improving":[14],"the":[15,18,26,60,63,67],"precision":[16],"nominal":[19],"parameters.":[22],"This":[23],"paper":[24],"addresses":[25],"problem":[27],"using":[31],"a":[32,77],"new":[33],"mathematical":[34],"joint":[35],"model":[36],"proposed":[37],"to":[38,62],"account":[39],"for":[40,76],"shortcomings":[41],"in":[42,51,66],"existing":[43],"methods.":[44],"corrected":[46],"manipulator":[47,68],"transformation":[48],"formulated":[50],"terms":[52],"\u201cgeneralized":[54],"Jacobians\u201d:":[55],"relating":[56],"differential":[57,64],"errors":[58],"joints":[61],"change":[65],"transformation.":[69],"details":[71],"application":[73],"are":[74],"discussed":[75],"particular":[78],"industrial":[79],"manipulator.":[80]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}