{"id":"https://openalex.org/W2165977608","doi":"https://doi.org/10.1017/s0263574700010286","title":"An Efficient Computational Method of the Jacobian for Robot Manipulators","display_name":"An Efficient Computational Method of the Jacobian for Robot Manipulators","publication_year":1991,"publication_date":"1991-04-01","ids":{"openalex":"https://openalex.org/W2165977608","doi":"https://doi.org/10.1017/s0263574700010286","mag":"2165977608"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700010286","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700010286","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5031169902","display_name":"Changjin Li","orcid":"https://orcid.org/0000-0003-3171-9053"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chang-Jin Li","raw_affiliation_strings":["Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063835540","display_name":"Ahmad Hemami","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. Hemami","raw_affiliation_strings":["Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111864815","display_name":"T. S. Sankar","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"T. S. Sankar","raw_affiliation_strings":["Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I60158472"],"apc_list":null,"apc_paid":null,"fwci":1.525,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.85016974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":"9","issue":"2","first_page":"231","last_page":"234"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.998199999332428,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9905999898910522,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.9641271829605103},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.7424432039260864},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6434563994407654},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.6388251185417175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5750432014465332},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5192530155181885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4435029923915863},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4191238284111023},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4019262194633484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3404558598995209},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2652309834957123},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18221241235733032},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.09991306066513062},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07672193646430969}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.9641271829605103},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.7424432039260864},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6434563994407654},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.6388251185417175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5750432014465332},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5192530155181885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4435029923915863},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4191238284111023},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4019262194633484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3404558598995209},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2652309834957123},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18221241235733032},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.09991306066513062},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07672193646430969},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700010286","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700010286","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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":8,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W2011956574","https://openalex.org/W2041331855","https://openalex.org/W2064263864","https://openalex.org/W2067746225","https://openalex.org/W2091397250","https://openalex.org/W2100790457","https://openalex.org/W2246023205"],"related_works":["https://openalex.org/W4239085902","https://openalex.org/W2165977608","https://openalex.org/W2313310159","https://openalex.org/W2391397427","https://openalex.org/W4366609476","https://openalex.org/W1996341361","https://openalex.org/W2919815400","https://openalex.org/W2156518980","https://openalex.org/W2159353126","https://openalex.org/W2093621301"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"this":[2],"paper,":[3],"an":[4],"efficient":[5],"method":[6],"for":[7,12,47],"computing":[8],"the":[9,24,27,37,40,43],"Jacobian":[10],"matrix":[11],"robot":[13],"manipulators":[14],"on":[15],"a":[16],"single":[17],"processor":[18],"computer":[19],"is":[20,33],"developed.":[21],"Compared":[22],"with":[23],"existing":[25],"methods,":[26],"number":[28],"of":[29],"required":[30],"numerical":[31],"operations":[32],"considerably":[34],"smaller,":[35],"making":[36],"proposed":[38],"technique":[39],"fastest,":[41],"or":[42],"least":[44],"expensive,":[45],"one":[46],"any":[48],"general":[49],"N":[50],"degrees-of-freedom":[51],"manipulator.":[52]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}