{"id":"https://openalex.org/W1988280726","doi":"https://doi.org/10.1002/rob.4620090403","title":"A kinematic analysis of the modified flight telerobotic servicer manipulator system","display_name":"A kinematic analysis of the modified flight telerobotic servicer manipulator system","publication_year":1992,"publication_date":"1992-06-01","ids":{"openalex":"https://openalex.org/W1988280726","doi":"https://doi.org/10.1002/rob.4620090403","mag":"1988280726"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620090403","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090403","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/A5110291623","display_name":"Carl Crane","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":"Carl Crane","raw_affiliation_strings":["Center for Intelligent Machines and Robotics Mechanical Engineering Department University of Florida Gainesville, FL 32611\u20132050"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Machines and Robotics Mechanical Engineering Department University of Florida Gainesville, FL 32611\u20132050","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041945706","display_name":"Tim Carnahan","orcid":null},"institutions":[{"id":"https://openalex.org/I1306266525","display_name":"Goddard Space Flight Center","ror":"https://ror.org/0171mag52","country_code":"US","type":"facility","lineage":["https://openalex.org/I1306266525","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tim Carnahan","raw_affiliation_strings":["NASA Goddard Space Flight Center Greenbelt, MD","NASA Goddard Space Flight  Center, Greenbelt, MD"],"affiliations":[{"raw_affiliation_string":"NASA Goddard Space Flight Center Greenbelt, MD","institution_ids":["https://openalex.org/I1306266525"]},{"raw_affiliation_string":"NASA Goddard Space Flight  Center, Greenbelt, MD","institution_ids":["https://openalex.org/I1306266525"]}]},{"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 Mechanical Engineering Department University of Florida Gainesville, FL 32611\u20132050"],"affiliations":[{"raw_affiliation_string":"Center for Intelligent Machines and Robotics Mechanical Engineering Department University of Florida Gainesville, FL 32611\u20132050","institution_ids":["https://openalex.org/I33213144"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110291623"],"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":0.1613256,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"9","issue":"4","first_page":"461","last_page":"480"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.994700014591217,"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/manipulator","display_name":"Manipulator (device)","score":0.7180562019348145},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6247466206550598},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5863070487976074},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5050860047340393},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4760182499885559},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44789135456085205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4189459979534149},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4125209152698517},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4043048620223999},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38931524753570557},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3295508027076721},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21705830097198486},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19749581813812256},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1396976113319397},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10309618711471558},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06361553072929382}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.7180562019348145},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6247466206550598},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5863070487976074},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5050860047340393},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4760182499885559},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44789135456085205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4189459979534149},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4125209152698517},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4043048620223999},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38931524753570557},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3295508027076721},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21705830097198486},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19749581813812256},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1396976113319397},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10309618711471558},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06361553072929382},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620090403","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090403","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":6,"referenced_works":["https://openalex.org/W1984167892","https://openalex.org/W1991803036","https://openalex.org/W2027720677","https://openalex.org/W2062185247","https://openalex.org/W2138232617","https://openalex.org/W2322038495"],"related_works":["https://openalex.org/W4214678870","https://openalex.org/W4323924603","https://openalex.org/W2222614663","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2145154791","https://openalex.org/W2245353192","https://openalex.org/W2973099332","https://openalex.org/W192519934","https://openalex.org/W2185220635"],"abstract_inverted_index":{"Abstract":[0],"A":[1],"reverse":[2,43],"analysis":[3,44],"of":[4,8,12],"a":[5,13,32,49,63,73],"6":[6,26],"degree":[7],"freedom":[9],"(dof)":[10],"subchain":[11,28],"modified":[14],"7":[15],"dof":[16,27],"flight":[17],"telerobotic":[18],"servicer":[19],"(FTS)":[20],"manipulator":[21,51],"system":[22],"is":[23,29,86],"presented.":[24],"The":[25,83],"designated":[30],"as":[31],"TR\u2010RT*":[33],"chain.":[34],"At":[35],"the":[36,42,56,70,80,92,95],"outset,":[37],"it":[38],"was":[39,67,77],"considered":[40],"that":[41],"would":[45],"be":[46],"similar":[47],"to":[48],"TTT":[50],"analyzed":[52],"previously":[53],"for":[54,79,94],"which":[55],"third":[57],"and":[58,72,88],"fourth":[59],"joints":[60],"intersect":[61],"at":[62],"finite":[64],"point.":[65],"This":[66],"not,":[68],"however,":[69],"case":[71],"sixteenth\u2010degree":[74],"tan\u2010half\u2010angle":[75],"polynomial":[76],"derived":[78],"TR\u2010RT":[81],"manipulator.":[82],"elimination":[84],"procedure":[85],"interesting":[87],"much":[89],"simpler":[90],"than":[91],"procedures":[93],"general":[96],"case.":[97]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
