{"id":"https://openalex.org/W2151609137","doi":"https://doi.org/10.1002/rob.4620050105","title":"Hypersurfaces of special configurations of serial manipulators and related concepts. part III: Measures for the position and orientation space of 6 dof manipulators","display_name":"Hypersurfaces of special configurations of serial manipulators and related concepts. part III: Measures for the position and orientation space of 6 dof manipulators","publication_year":1988,"publication_date":"1988-02-01","ids":{"openalex":"https://openalex.org/W2151609137","doi":"https://doi.org/10.1002/rob.4620050105","mag":"2151609137"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620050105","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620050105","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/A5024292776","display_name":"Re\u015fit Soylu","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Resit Soylu","raw_affiliation_strings":["Center for Intelligent Machines and Robotics, University of Florida, Gainesville, Florida 32611"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Machines and Robotics, University of Florida, Gainesville, Florida 32611","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110720430","display_name":"Joseph Duffy","orcid":null},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph Duffy","raw_affiliation_strings":["Center for Intelligent Machines and Robotics, University of Florida, Gainesville, Florida 32611"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Machines and Robotics, University of Florida, Gainesville, Florida 32611","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024292776"],"corresponding_institution_ids":["https://openalex.org/I33213144"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.29176973,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":"1","first_page":"55","last_page":"72"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.989300012588501,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9811000227928162,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/position","display_name":"Position (finance)","score":0.7992459535598755},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7444647550582886},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.6493667364120483},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.551302433013916},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5282632112503052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5087907910346985},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4518614709377289},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43947434425354004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4326590597629547},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.42044806480407715},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37716400623321533},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2608259320259094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24172931909561157},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1784975528717041},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1581018567085266},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13055679202079773},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09341198205947876},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08157962560653687},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.07263728976249695}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7992459535598755},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7444647550582886},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.6493667364120483},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.551302433013916},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5282632112503052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5087907910346985},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4518614709377289},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43947434425354004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4326590597629547},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.42044806480407715},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37716400623321533},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2608259320259094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24172931909561157},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1784975528717041},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1581018567085266},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13055679202079773},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09341198205947876},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08157962560653687},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.07263728976249695},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620050105","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620050105","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":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W2006861766","https://openalex.org/W2124139566","https://openalex.org/W2789788632","https://openalex.org/W2993711070"],"related_works":["https://openalex.org/W2525438122","https://openalex.org/W2159914521","https://openalex.org/W2966959764","https://openalex.org/W2030374020","https://openalex.org/W2150950995","https://openalex.org/W4386871725","https://openalex.org/W4294975949","https://openalex.org/W2053228135","https://openalex.org/W145444132","https://openalex.org/W203394100"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"article":[3],"two":[4],"alternatives":[5],"are":[6,50,61,67],"introduced":[7],"as":[8,36],"measures":[9,49],"for":[10,55],"the":[11,32,64],"position":[12],"and":[13,26,63],"orientation":[14],"space":[15],"of":[16,23,31],"6":[17],"DOF":[18],"manipulators":[19,56],"which":[20],"include":[21],"considerations":[22],"joint":[24],"limitations":[25],"scale.":[27],"The":[28],"cumulative":[29],"freedom":[30],"end":[33],"effector,":[34],"considered":[35],"a":[37],"rigid":[38],"body":[39],"in":[40],"3D":[41],"space,":[42],"can":[43],"thus":[44],"be":[45,53],"quantified.":[46],"These":[47],"alternative":[48],"shown":[51],"to":[52],"equivalent":[54],"with":[57],"spherical":[58],"wrists.":[59],"Applications":[60],"presented":[62],"new":[65],"concepts":[66],"illustrated":[68],"by":[69],"an":[70],"example.":[71]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
