{"id":"https://openalex.org/W2166294987","doi":"https://doi.org/10.1002/rob.4620040605","title":"Formulation of the kinematic model of a general (6 DOF) robot manipulator using a screw operator","display_name":"Formulation of the kinematic model of a general (6 DOF) robot manipulator using a screw operator","publication_year":1987,"publication_date":"1987-12-01","ids":{"openalex":"https://openalex.org/W2166294987","doi":"https://doi.org/10.1002/rob.4620040605","mag":"2166294987"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040605","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040605","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/A5012527565","display_name":"Shahram Payandeh","orcid":"https://orcid.org/0000-0001-6846-7289"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"S. Payandeh","raw_affiliation_strings":["Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, CANADA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, CANADA","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069757661","display_name":"A.A. Goldenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. A. Goldenberg","raw_affiliation_strings":["Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, CANADA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, CANADA","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012527565"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.2915266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"4","issue":"6","first_page":"771","last_page":"797"},"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9950000047683716,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9937000274658203,"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/kinematics","display_name":"Kinematics","score":0.7218291759490967},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5800637602806091},{"id":"https://openalex.org/keywords/transformation-matrix","display_name":"Transformation matrix","score":0.5594672560691833},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5195406079292297},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5119754076004028},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4506705403327942},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.42950767278671265},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.4271836578845978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.2902131676673889},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.27689534425735474},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.22969770431518555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1765550971031189},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1579291820526123},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.115547776222229},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10290640592575073}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7218291759490967},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5800637602806091},{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.5594672560691833},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5195406079292297},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5119754076004028},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4506705403327942},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.42950767278671265},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.4271836578845978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2902131676673889},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.27689534425735474},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.22969770431518555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1765550971031189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1579291820526123},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.115547776222229},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10290640592575073},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620040605","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040605","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1558446093","https://openalex.org/W1582353822","https://openalex.org/W1965135709","https://openalex.org/W1973424922","https://openalex.org/W2024050805","https://openalex.org/W2078064020","https://openalex.org/W2083860303","https://openalex.org/W2093013148","https://openalex.org/W2136474093","https://openalex.org/W2246023205","https://openalex.org/W2583430860","https://openalex.org/W2768364248","https://openalex.org/W2974557720"],"related_works":["https://openalex.org/W2152470674","https://openalex.org/W192519934","https://openalex.org/W2973099332","https://openalex.org/W625831653","https://openalex.org/W2145154791","https://openalex.org/W2138377666","https://openalex.org/W3161599300","https://openalex.org/W2103976382","https://openalex.org/W2293969805","https://openalex.org/W2361688797"],"abstract_inverted_index":{"Abstract":[0],"In":[1,106],"general,":[2],"the":[3,34,38,53,72,76,86,95,103,121,131,135,139,149,161,174],"manipulator's":[4,39,73,162],"end\u2010effector":[5,163],"can":[6,29],"be":[7,30],"located":[8],"in":[9,15,85],"a":[10,63,109,113,124,157,178],"desired":[11],"position":[12],"and":[13,100,142],"orientation":[14],"its":[16,24],"work\u2010space":[17],"through":[18,120],"angular":[19],"and/or":[20],"linear":[21],"displacements":[22,133],"of":[23,37,66,88,98,112,123,134,138,148],"joints.":[25],"These":[26],"joint":[27,143,175],"coordinates":[28,55,137,176],"obtained":[31,119,154],"by":[32,155],"solving":[33],"loop\u2010closure":[35,104,146,168],"equation":[36,49,147,169],"kinematic":[40,96,110,151],"model.":[41],"The":[42,145,165,181],"most":[43],"common":[44],"method":[45,61,182],"for":[46,173],"obtaining":[47],"this":[48,107],"is":[50,118,153,170,183],"based":[51],"on":[52],"point":[54],"4\u00d74":[56],"homogeneous":[57],"transformation":[58],"matrix.":[59],"This":[60],"uses":[62],"special":[64],"set":[65],"frames":[67],"which":[68],"are":[69],"adapted":[70],"to":[71,93,101,129],"configuration.":[74],"Within":[75],"last":[77],"few":[78],"years":[79],"there":[80],"has":[81],"been":[82],"some":[83],"interest":[84],"use":[87],"screw":[89,125,132],"operators":[90],"(line":[91],"transformations)":[92],"model":[94,111],"configuration":[97],"manipulators":[99],"form":[102],"equation.":[105],"article,":[108],"general":[114],"(6":[115],"DOF)":[116],"manipulator":[117,140],"application":[122],"operator":[126],"(dual\u2010unit":[127],"quaternion)":[128],"represent":[130],"line":[136],"link":[141],"axes.":[144],"closed":[150],"chain":[152],"introducing":[156],"hypothetical":[158],"link/joint":[159],"at":[160],"location.":[164],"resultant":[166],"non\u2010linear":[167],"then":[171],"solved":[172],"using":[177],"numerical":[179],"technique.":[180],"illustrated":[184],"with":[185],"an":[186],"example.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-12T08:28:47.272897","created_date":"2025-10-10T00:00:00"}