{"id":"https://openalex.org/W2072652815","doi":"https://doi.org/10.1002/rob.4620090507","title":"Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation","display_name":"Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation","publication_year":1992,"publication_date":"1992-07-01","ids":{"openalex":"https://openalex.org/W2072652815","doi":"https://doi.org/10.1002/rob.4620090507","mag":"2072652815"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620090507","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090507","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/A5086091625","display_name":"Ren\u00e9 V. Mayorga","orcid":"https://orcid.org/0000-0001-8365-6571"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"R. V. Mayorga","raw_affiliation_strings":["Department of Systems Design Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3G1","Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3G1","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051841038","display_name":"Andrew K. C. Wong","orcid":"https://orcid.org/0000-0002-0019-7152"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. K. C. Wong","raw_affiliation_strings":["Department of Systems Design Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3G1","Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3G1","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066903534","display_name":"C. S. Karthik","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"K. S. Ma","raw_affiliation_strings":["Department of Systems Design Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3G1","Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering University of Waterloo Waterloo, Ontario, Canada N2L 3G1","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada, N2L 3G1","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086091625"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":2.4845,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89031878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"5","first_page":"681","last_page":"702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9990000128746033,"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":0.9966999888420105,"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/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.9832183718681335},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6820734739303589},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6602867841720581},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5809699296951294},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5238057374954224},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5132136344909668},{"id":"https://openalex.org/keywords/gaussian-elimination","display_name":"Gaussian elimination","score":0.49517861008644104},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.48364031314849854},{"id":"https://openalex.org/keywords/condition-number","display_name":"Condition number","score":0.47638291120529175},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.4748409390449524},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4605739116668701},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.43128615617752075},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.430832177400589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4273329973220825},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.41409412026405334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4050237536430359},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.38558679819107056},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.36768195033073425},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34090036153793335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2238370180130005},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08054456114768982},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07710263133049011},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06748077273368835}],"concepts":[{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.9832183718681335},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6820734739303589},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6602867841720581},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5809699296951294},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5238057374954224},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5132136344909668},{"id":"https://openalex.org/C126312332","wikidata":"https://www.wikidata.org/wiki/Q2658","display_name":"Gaussian elimination","level":3,"score":0.49517861008644104},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.48364031314849854},{"id":"https://openalex.org/C84545080","wikidata":"https://www.wikidata.org/wiki/Q1147936","display_name":"Condition number","level":3,"score":0.47638291120529175},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.4748409390449524},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4605739116668701},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.43128615617752075},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.430832177400589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4273329973220825},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.41409412026405334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4050237536430359},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.38558679819107056},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.36768195033073425},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34090036153793335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2238370180130005},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08054456114768982},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07710263133049011},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06748077273368835},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620090507","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090507","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":26,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W2015003349","https://openalex.org/W2016514184","https://openalex.org/W2024625612","https://openalex.org/W2038533008","https://openalex.org/W2042538399","https://openalex.org/W2042803738","https://openalex.org/W2045410079","https://openalex.org/W2053147178","https://openalex.org/W2057831640","https://openalex.org/W2058544403","https://openalex.org/W2070133526","https://openalex.org/W2090179465","https://openalex.org/W2100476631","https://openalex.org/W2114000612","https://openalex.org/W2124043501","https://openalex.org/W2135622428","https://openalex.org/W2143527619","https://openalex.org/W2144230201","https://openalex.org/W2144629157","https://openalex.org/W2146633262","https://openalex.org/W2153247018","https://openalex.org/W2163683727","https://openalex.org/W3088063282","https://openalex.org/W3168095073","https://openalex.org/W4241018115"],"related_works":["https://openalex.org/W1907244590","https://openalex.org/W2114986599","https://openalex.org/W156253123","https://openalex.org/W2493516920","https://openalex.org/W2946448694","https://openalex.org/W3147343195","https://openalex.org/W2994295258","https://openalex.org/W2086769802","https://openalex.org/W4386631294","https://openalex.org/W2115780241"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"article,":[3],"an":[4,36,60],"efficient":[5],"procedure":[6,84],"for":[7,39],"the":[8,13,40,44,48,57,65,72,78],"proper":[9],"pseudoinverse":[10,45,87],"perturbation":[11,42],"and":[12,34,85],"numerical":[14],"inverse":[15],"kinematics":[16],"computation":[17],"of":[18,32,43,59],"robot":[19,62],"manipulators":[20],"is":[21,25,54,69],"presented.":[22],"The":[23,51],"approach":[24,74],"based":[26,89],"on":[27,56,90],"solving":[28],"a":[29,81,91],"linear":[30],"system":[31],"equations":[33],"using":[35,80],"original":[37],"scheme":[38],"appropriate":[41],"matrix":[46],"in":[47],"next":[49],"iteration.":[50],"resultant":[52],"algorithm":[53],"tested":[55],"simulation":[58],"industrial":[61],"manipulator.":[63],"From":[64],"results":[66],"obtained,":[67],"it":[68],"observed":[70],"that":[71],"proposed":[73],"compares":[75],"favorably":[76],"with":[77,86],"approaches":[79],"Gaussian":[82],"elimination":[83],"robustness":[88],"manipulability":[92],"measure.":[93]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
