{"id":"https://openalex.org/W2004521943","doi":"https://doi.org/10.1002/rob.4620040403","title":"A strictly convergent real\u2010time solution for inverse kinematics of robot manipulators","display_name":"A strictly convergent real\u2010time solution for inverse kinematics of robot manipulators","publication_year":1987,"publication_date":"1987-08-01","ids":{"openalex":"https://openalex.org/W2004521943","doi":"https://doi.org/10.1002/rob.4620040403","mag":"2004521943"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040403","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040403","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":"https://etd.ohiolink.edu/acprod/odb_etd/ws/send_file/send?accession=osu1487267546984588&disposition=inline","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111235937","display_name":"Yu\u2010Sheng Tsai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159451","display_name":"Kodak (United States)","ror":"https://ror.org/04rn3ph18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210159451"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yusheng T. Tsai","raw_affiliation_strings":["Electronics Research Laboratories Eastman Kodak Company Rochester, NY 14650"],"affiliations":[{"raw_affiliation_string":"Electronics Research Laboratories Eastman Kodak Company Rochester, NY 14650","institution_ids":["https://openalex.org/I4210159451"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057364155","display_name":"David E. Orin","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David E. Orin","raw_affiliation_strings":["Dept. of Electrical Engineering The Ohio State University Columbus, OH 43210"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering The Ohio State University Columbus, OH 43210","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5111235937"],"corresponding_institution_ids":["https://openalex.org/I4210159451"],"apc_list":null,"apc_paid":null,"fwci":6.6585,"has_fulltext":true,"cited_by_count":52,"citation_normalized_percentile":{"value":0.96868113,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"4","issue":"4","first_page":"477","last_page":"501"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9984999895095825,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9904000163078308,"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":0.8143374919891357},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6070429682731628},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5869541168212891},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5863429307937622},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5280526280403137},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5151365995407104},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4955946207046509},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4639328122138977},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.46210774779319763},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4482573866844177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42913520336151123},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4192253053188324},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41669511795043945},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3909880518913269},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2756214737892151},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09201234579086304},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07663369178771973},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07212996482849121}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8143374919891357},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6070429682731628},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5869541168212891},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5863429307937622},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5280526280403137},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5151365995407104},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4955946207046509},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4639328122138977},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.46210774779319763},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4482573866844177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42913520336151123},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4192253053188324},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41669511795043945},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3909880518913269},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2756214737892151},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09201234579086304},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07663369178771973},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07212996482849121},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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":2,"locations":[{"id":"doi:10.1002/rob.4620040403","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040403","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:etd.ohiolink.edu:osu1487267546984588","is_oa":true,"landing_page_url":"http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546984588","pdf_url":"https://etd.ohiolink.edu/acprod/odb_etd/ws/send_file/send?accession=osu1487267546984588&disposition=inline","source":{"id":"https://openalex.org/S4377196344","display_name":"OhioLink ETD Center (Ohio Library and Information Network)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210155183","host_organization_name":"Ohio Library and Information Network","host_organization_lineage":["https://openalex.org/I4210155183"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546984588","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:etd.ohiolink.edu:osu1487267546984588","is_oa":true,"landing_page_url":"http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546984588","pdf_url":"https://etd.ohiolink.edu/acprod/odb_etd/ws/send_file/send?accession=osu1487267546984588&disposition=inline","source":{"id":"https://openalex.org/S4377196344","display_name":"OhioLink ETD Center (Ohio Library and Information Network)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210155183","host_organization_name":"Ohio Library and Information Network","host_organization_lineage":["https://openalex.org/I4210155183"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546984588","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2004521943.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1558446093","https://openalex.org/W1633529096","https://openalex.org/W1965135709","https://openalex.org/W1965634432","https://openalex.org/W1977866635","https://openalex.org/W1980936883","https://openalex.org/W2004521943","https://openalex.org/W2004795460","https://openalex.org/W2056161084","https://openalex.org/W2058544403","https://openalex.org/W2061612624","https://openalex.org/W2064263864","https://openalex.org/W2117691194","https://openalex.org/W2118495140","https://openalex.org/W2124819853","https://openalex.org/W2132294818","https://openalex.org/W2136470108","https://openalex.org/W2139691007","https://openalex.org/W2144230201","https://openalex.org/W2159806973","https://openalex.org/W2246023205","https://openalex.org/W3168095073","https://openalex.org/W4243737224"],"related_works":["https://openalex.org/W2366276599","https://openalex.org/W4322503989","https://openalex.org/W2119719871","https://openalex.org/W2362111160","https://openalex.org/W2811382984","https://openalex.org/W1971821535","https://openalex.org/W4283266117","https://openalex.org/W2357499095","https://openalex.org/W3129004068","https://openalex.org/W2375200650"],"abstract_inverted_index":{"Abstract":[0],"Inverse":[1,49,164],"Kinematics":[2,50,165],"has":[3,87,135],"been":[4,88,136],"recognized":[5],"as":[6,76],"an":[7,171,177],"important":[8],"problem":[9],"in":[10,57,101],"robotics":[11],"applications.":[12],"A":[13],"robot":[14,155],"independent":[15],"solution":[16,56,161,166],"can":[17],"only":[18],"be":[19,168],"obtained":[20,169],"through":[21],"numerical":[22],"methods,":[23],"but":[24],"most":[25],"solutions":[26],"which":[27,158,179],"use":[28],"this":[29],"approach":[30],"have":[31],"problems":[32,93],"with":[33,94,98,127,176],"convergence":[34],"especially":[35,89],"near":[36],"singularity":[37],"points.":[38],"This":[39],"article":[40],"develops":[41],"a":[42,47,77,84,112,128,152],"strictly":[43],"convergent":[44],"algorithm":[45,62,134],"and":[46,83,117,142,148],"special\u2010purpose":[48],"Processor":[51],"(IKP)":[52],"to":[53,79,91,120],"obtain":[54],"the":[55,61,70,81,102,107,122,139,143,163],"real":[58],"time.":[59,132],"While":[60],"is":[63,74,109,118,180],"based":[64,110],"on":[65,111,138],"open\u2010loop":[66],"integration":[67],"of":[68,106],"rates,":[69],"absolute":[71],"position":[72],"deviation":[73],"used":[75],"criterion":[78],"control":[80],"iteration,":[82],"feedback":[85],"mechanism":[86],"designed":[90,119],"eliminate":[92],"long\u2010term":[95],"drift":[96],"or":[97],"initial":[99],"errors":[100],"solution.":[103],"The":[104,133],"architecture":[105],"IKP":[108],"high\u2010speed":[113],"floating\u2010point":[114],"arithmetic":[115],"processor":[116,130],"perform":[121],"common":[123],"matrix\u2010vector":[124],"operations":[125],"efficiently":[126],"minimum":[129],"cycle":[131],"simulated":[137],"proposed":[140],"architecture,":[141],"results":[144],"show":[145],"its":[146],"robustness":[147],"real\u2010time":[149],"capability.":[150],"For":[151],"six":[153],"degree\u2010of\u2010freedom":[154],"manipulator":[156],"(for":[157],"no":[159],"closed\u2010form":[160],"exist),":[162],"may":[167],"at":[170],"approximate":[172],"2":[173],"khz":[174],"rate":[175],"error":[178],"within":[181],"standard":[182],"repeatability":[183],"limits.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
