{"id":"https://openalex.org/W2055671659","doi":"https://doi.org/10.1017/s0263574700018531","title":"Inverse kinematics of free-floating space robots with minimum dynamic disturbance","display_name":"Inverse kinematics of free-floating space robots with minimum dynamic disturbance","publication_year":1996,"publication_date":"1996-11-01","ids":{"openalex":"https://openalex.org/W2055671659","doi":"https://doi.org/10.1017/s0263574700018531","mag":"2055671659"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700018531","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700018531","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/A5103130228","display_name":"Fengfeng Xi","orcid":"https://orcid.org/0000-0003-1078-0031"},"institutions":[{"id":"https://openalex.org/I4210113034","display_name":"Sensor Electronics (United States)","ror":"https://ror.org/01ynheb59","country_code":"US","type":"company","lineage":["https://openalex.org/I4210113034"]},{"id":"https://openalex.org/I4210159778","display_name":"National Research Council Canada","ror":"https://ror.org/04mte1k06","country_code":"CA","type":"government","lineage":["https://openalex.org/I4210159778"]}],"countries":["CA","US"],"is_corresponding":true,"raw_author_name":"Fengfeng Xi","raw_affiliation_strings":["Institute for Sensor and Control Technology, National Research Council Canada, 3250 East Mall, Vancouver B. C. (Canada) V6T1W5","Institute for Sensor and Control Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Sensor and Control Technology, National Research Council Canada, 3250 East Mall, Vancouver B. C. (Canada) V6T1W5","institution_ids":["https://openalex.org/I4210159778"]},{"raw_affiliation_string":"Institute for Sensor and Control Technology","institution_ids":["https://openalex.org/I4210113034"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5103130228"],"corresponding_institution_ids":["https://openalex.org/I4210113034","https://openalex.org/I4210159778"],"apc_list":null,"apc_paid":null,"fwci":16.0775,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.98336255,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"14","issue":"6","first_page":"667","last_page":"675"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10325","display_name":"Astro and Planetary Science","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8909236192703247},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.733934223651886},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6982261538505554},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6438910365104675},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.6220235228538513},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5204203724861145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5201418995857239},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4843643605709076},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4391461908817291},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4340498745441437},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4231290817260742},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33193933963775635},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3222312033176422},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15114852786064148},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14190757274627686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13947761058807373},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11644807457923889},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08877941966056824},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07373383641242981},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.060209423303604126}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8909236192703247},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.733934223651886},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6982261538505554},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6438910365104675},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.6220235228538513},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5204203724861145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5201418995857239},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4843643605709076},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4391461908817291},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4340498745441437},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4231290817260742},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33193933963775635},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3222312033176422},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15114852786064148},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14190757274627686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13947761058807373},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11644807457923889},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08877941966056824},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07373383641242981},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.060209423303604126},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700018531","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700018531","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W11974643","https://openalex.org/W194774837","https://openalex.org/W1965135709","https://openalex.org/W1997752220","https://openalex.org/W2088961452","https://openalex.org/W2105229687","https://openalex.org/W2111872614","https://openalex.org/W2115897150","https://openalex.org/W2119968060","https://openalex.org/W2120231561","https://openalex.org/W2137461024","https://openalex.org/W2146097584"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W1486373823","https://openalex.org/W3136087161","https://openalex.org/W2053762185","https://openalex.org/W2018238589","https://openalex.org/W2145980196","https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W2359995298"],"abstract_inverted_index":{"In":[0,112],"this":[1,85],"paper":[2],"a":[3,29,78,90,134],"new":[4],"method":[5,21,36,132],"is":[6,22,37,54,75],"presented":[7],"for":[8],"solving":[9],"the":[10,20,25,41,46,50,57,62,67,73,80,95,99,102,109,113,116,126,130],"inverse":[11],"kinematics":[12],"of":[13,45,49],"free-floating":[14],"space":[15,26,63,81],"manipulators.":[16],"The":[17,35],"idea":[18],"behind":[19],"to":[23,39],"move":[24],"manipulator":[27,42,64,82,110],"along":[28,66],"path":[30,135],"with":[31,136],"minimum":[32,137],"dynamic":[33,138],"disturbance.":[34,139],"proposed":[38,131],"use":[40],"Jacobian":[43,48],"instead":[44],"generalized":[47],"spacecraft-manipulator":[51],"system.":[52],"This":[53],"based":[55],"on":[56],"simple":[58],"fact":[59],"that,":[60],"if":[61],"moves":[65],"so-called":[68],"Zero":[69],"Disturbance":[70],"Path":[71],"(ZDP),":[72],"spacecraft":[74],"immovable.":[76],"As":[77],"result,":[79],"can":[83,104,122],"in":[84],"case":[86,114],"be":[87,105,123],"treated":[88],"as":[89],"terrestrial":[91],"fixed-based":[92],"manipulator.":[93],"Hence,":[94],"motion":[96],"mapping":[97],"between":[98],"joints":[100],"and":[101],"end-effector":[103],"described":[106],"directly":[107],"by":[108,129],"Jacobian.":[111],"that":[115,125],"ZDP":[117],"does":[118],"not":[119],"exist,":[120],"it":[121],"shown":[124],"solutions":[127],"obtained":[128],"provide":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}