{"id":"https://openalex.org/W1990891740","doi":"https://doi.org/10.1017/s0263574703005174","title":"Inverse position analysis, workspace determination and position synthesis of parallel manipulators with 3-RSR topology","display_name":"Inverse position analysis, workspace determination and position synthesis of parallel manipulators with 3-RSR topology","publication_year":2003,"publication_date":"2003-10-24","ids":{"openalex":"https://openalex.org/W1990891740","doi":"https://doi.org/10.1017/s0263574703005174","mag":"1990891740"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574703005174","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574703005174","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/A5013092459","display_name":"Raffaele Di Gregorio","orcid":"https://orcid.org/0000-0003-3925-3016"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Raffaele Di Gregorio","raw_affiliation_strings":["Department of Engineering, University of Ferrara Via Saragat, 1; 44100 Ferrara (Italy","Department of Engineering, University of Ferrara Via Saragat, 1"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Ferrara Via Saragat, 1; 44100 Ferrara (Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Department of Engineering, University of Ferrara Via Saragat, 1","institution_ids":["https://openalex.org/I201324441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5013092459"],"corresponding_institution_ids":["https://openalex.org/I201324441"],"apc_list":null,"apc_paid":null,"fwci":1.6381,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.85015476,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":"6","first_page":"627","last_page":"632"},"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":0.9861999750137329,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9858999848365784,"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/workspace","display_name":"Workspace","score":0.9270243048667908},{"id":"https://openalex.org/keywords/compatibility","display_name":"Compatibility (geochemistry)","score":0.684463381767273},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6057687401771545},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6039238572120667},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5541919469833374},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5355612635612488},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.510239839553833},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.49436283111572266},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4769417345523834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36938461661338806},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20900341868400574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18351373076438904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18330562114715576},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18083715438842773}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9270243048667908},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.684463381767273},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6057687401771545},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6039238572120667},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5541919469833374},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5355612635612488},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.510239839553833},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.49436283111572266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4769417345523834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36938461661338806},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20900341868400574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18351373076438904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18330562114715576},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18083715438842773},{"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/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574703005174","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574703005174","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"},{"id":"pmh:oai:iris.unife.it:11392/1200998","is_oa":false,"landing_page_url":"http://hdl.handle.net/11392/1200998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1972048929","https://openalex.org/W1978806523","https://openalex.org/W2017420452","https://openalex.org/W2047318255","https://openalex.org/W2066133103","https://openalex.org/W2072298898","https://openalex.org/W2083873940","https://openalex.org/W2123218127","https://openalex.org/W2151528438","https://openalex.org/W2197526461","https://openalex.org/W2228781017","https://openalex.org/W3043217108"],"related_works":["https://openalex.org/W2323662908","https://openalex.org/W2294329797","https://openalex.org/W2914036059","https://openalex.org/W2157832558","https://openalex.org/W1984695212","https://openalex.org/W1990891740","https://openalex.org/W2106807929","https://openalex.org/W2891692031","https://openalex.org/W2008746992","https://openalex.org/W2003688273"],"abstract_inverted_index":{"Manipulators":[0],"with":[1,70],"3-RSR":[2,26,136],"topology":[3],"are":[4,28,95,158],"three-degree-of-freedom":[5],"parallel":[6],"manipulators":[7,27],"that":[8,147],"may":[9],"be":[10,112,126],"either":[11],"spherical":[12],"or":[13],"mixed-motion":[14],"manipulators.":[15],"The":[16,36,52,121],"inverse":[17],"position":[18,132,143],"analysis":[19],"(IPA)":[20],"and":[21,68,75],"the":[22,46,57,64,73,76,80,83,88,92,96,101,106,113,119,131,135,142],"workspace":[23],"determination":[24],"of":[25,32,45,79,91,134,140],"addressed":[29],"by":[30],"means":[31],"a":[33,42],"new":[34,37],"approach.":[35],"approach":[38],"is":[39,86],"centered":[40],"on":[41],"particular":[43],"form":[44],"closure":[47],"equations":[48,54,94,124],"called":[49],"compatibility":[50,53,93,123],"equations.":[51],"contain":[55],"only":[56,148],"six":[58],"coordinates":[59,98],"(end-effector":[60],"coordinates)":[61],"which":[62,99],"locates":[63],"end-effector":[65,97,102,156],"pose":[66],"(position":[67],"orientation)":[69],"respect":[71],"to":[72,105,116,129],"frame,":[74],"geometric":[77],"constants":[78],"manipulator.":[81,137],"When":[82],"manipulator":[84,107],"geometry":[85],"assigned,":[87],"common":[89],"solutions":[90,150],"identify":[100],"poses":[103,157],"belonging":[104],"workspace.":[108],"Moreover,":[109],"they":[110],"can":[111,125],"starting":[114],"point":[115],"easily":[117],"solve":[118,130],"IPA.":[120],"presented":[122],"also":[127],"used":[128],"synthesis":[133,144],"This":[138],"way":[139],"solving":[141],"will":[145],"demonstrate":[146],"approximated":[149],"exist":[151],"when":[152],"more":[153],"than":[154],"eight":[155],"given.":[159]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
