{"id":"https://openalex.org/W2007750123","doi":"https://doi.org/10.1002/rob.4620070205","title":"Robot arm\u2010wrist coordination. Part 2. Design guidelines","display_name":"Robot arm\u2010wrist coordination. Part 2. Design guidelines","publication_year":1990,"publication_date":"1990-04-01","ids":{"openalex":"https://openalex.org/W2007750123","doi":"https://doi.org/10.1002/rob.4620070205","mag":"2007750123"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620070205","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070205","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/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["Robotics Laboratory, Department of Electrical Engineering, University of Rochester, Rochester, NY 14627"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Department of Electrical Engineering, University of Rochester, Rochester, NY 14627","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085470479","display_name":"Vassilios D. Tourassis","orcid":"https://orcid.org/0000-0003-1973-4891"},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vassilios D. Tourassis","raw_affiliation_strings":["Robotics Laboratory, Department of Electrical Engineering, University of Rochester, Rochester, NY 14627"],"affiliations":[{"raw_affiliation_string":"Robotics Laboratory, Department of Electrical Engineering, University of Rochester, Rochester, NY 14627","institution_ids":["https://openalex.org/I5388228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5064469965"],"corresponding_institution_ids":["https://openalex.org/I5388228"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18978979,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"2","first_page":"181","last_page":"195"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9983999729156494,"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":0.9800000190734863,"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/wrist","display_name":"Wrist","score":0.8395713567733765},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7509344816207886},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.617323637008667},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6015146970748901},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5671525001525879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47508183121681213},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4542329013347626},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.450851172208786},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43360084295272827},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4277886152267456},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3617819547653198},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34086090326309204},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.29784101247787476},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.267966628074646},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.15108978748321533},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08541744947433472},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08367747068405151},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06489107012748718}],"concepts":[{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.8395713567733765},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7509344816207886},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.617323637008667},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6015146970748901},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5671525001525879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47508183121681213},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4542329013347626},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.450851172208786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43360084295272827},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4277886152267456},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3617819547653198},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34086090326309204},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.29784101247787476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.267966628074646},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.15108978748321533},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08541744947433472},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08367747068405151},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06489107012748718},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620070205","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070205","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":12,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1558446093","https://openalex.org/W1823553355","https://openalex.org/W1995783220","https://openalex.org/W1998457139","https://openalex.org/W2001843187","https://openalex.org/W2009392722","https://openalex.org/W2048815198","https://openalex.org/W2072690938","https://openalex.org/W2160190409","https://openalex.org/W2171858518","https://openalex.org/W4302401162"],"related_works":["https://openalex.org/W4390695967","https://openalex.org/W4361770474","https://openalex.org/W2036081980","https://openalex.org/W4388893656","https://openalex.org/W3201274123","https://openalex.org/W2898640871","https://openalex.org/W2108575589","https://openalex.org/W841410736","https://openalex.org/W2790870262","https://openalex.org/W4281651108"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"the":[2,15,60,75,80,93,96],"companion":[3],"article":[4,27],"(Part":[5],"1),":[6],"we":[7],"developed":[8],"a":[9],"mathematical":[10],"framework":[11,32],"that":[12],"provides":[13],"for":[14,38],"analysis":[16],"and":[17,33,42,49,52,68,84,91],"quantitative":[18],"rating":[19],"of":[20,25,58,64,78,95],"arm\u2010wrist":[21,40,66,89],"coordination.":[22],"The":[23],"objective":[24],"this":[26,31],"is":[28],"to":[29],"exploit":[30],"formulate":[34],"manipulator":[35,82],"design":[36,62,97],"guidelines":[37,98],"effective":[39],"coordination":[41,67,90],"task":[43],"execution.":[44],"We":[45],"explore":[46],"various":[47],"arm":[48],"wrist":[50],"designs":[51],"quantify":[53],"their":[54],"performance":[55],"in":[56],"terms":[57],"meeting":[59],"two":[61],"objectives":[63],"efficient":[65],"robot":[69,86,100],"flexibility.":[70],"Numerical":[71],"simulation":[72],"experiments":[73],"highlight":[74],"measurable":[76],"effects":[77],"both":[79],"fixed":[81],"geometry":[83],"changing":[85],"configuration":[87],"on":[88,99],"demonstrate":[92],"impact":[94],"performance.":[101]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}