{"id":"https://openalex.org/W2017494445","doi":"https://doi.org/10.1017/s0263574704001080","title":"The design of redundant isotropic manipulators with special link parameters","display_name":"The design of redundant isotropic manipulators with special link parameters","publication_year":2005,"publication_date":"2005-03-01","ids":{"openalex":"https://openalex.org/W2017494445","doi":"https://doi.org/10.1017/s0263574704001080","mag":"2017494445"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704001080","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704001080","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/A5103570214","display_name":"K. Y. Tsai","orcid":"https://orcid.org/0009-0008-4584-4326"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"K. Y. Tsai","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672","Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043381511","display_name":"Z. W. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Z. W. Wang","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672","Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei (Taiwan) 10672","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":null,"apc_paid":null,"fwci":2.8944,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.90343816,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":"2","first_page":"231","last_page":"237"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9952999949455261,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.9635448455810547},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.7153362035751343},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.7064306139945984},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.584084689617157},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4553038477897644},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.41397079825401306},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3992115259170532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39051806926727295},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1839863359928131},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1704176366329193},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14409813284873962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09738209843635559},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09662318229675293},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.08098402619361877},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.06410300731658936},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.05400940775871277}],"concepts":[{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.9635448455810547},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.7153362035751343},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.7064306139945984},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.584084689617157},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4553038477897644},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.41397079825401306},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3992115259170532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39051806926727295},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1839863359928131},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1704176366329193},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14409813284873962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09738209843635559},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09662318229675293},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.08098402619361877},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.06410300731658936},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.05400940775871277},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","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/s0263574704001080","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704001080","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":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1999333556","https://openalex.org/W2003025902","https://openalex.org/W2021526555","https://openalex.org/W2030190888","https://openalex.org/W2070917084","https://openalex.org/W2095636070"],"related_works":["https://openalex.org/W2525438122","https://openalex.org/W2794789911","https://openalex.org/W4298134547","https://openalex.org/W2122976425","https://openalex.org/W2088773039","https://openalex.org/W4382753160","https://openalex.org/W2284229495","https://openalex.org/W1994881304","https://openalex.org/W2028697747","https://openalex.org/W1505344237"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,25],"general":[4],"method":[5,27],"to":[6,28,49],"develop":[7],"n-DOF":[8],"serial":[9],"isotropic":[10,31,64,77],"manipulators.":[11],"The":[12],"parameters":[13,41],"of":[14,42],"6-DOF":[15],"isotropy":[16,52],"generators":[17,45,53],"are":[18,36,79],"used":[19],"as":[20,46],"the":[21,40,43,51],"initial":[22,47],"values":[23],"in":[24],"numerical":[26],"obtain":[29,50],"redundant":[30],"generators.":[32],"Additional":[33],"constraint":[34],"equations":[35],"then":[37],"added,":[38],"with":[39,54,66],"obtained":[44],"values,":[48],"special":[55,67],"parameters.":[56,71],"Each":[57],"generator":[58],"can":[59],"be":[60],"developed":[61],"into":[62],"many":[63],"designs":[65],"or":[68],"desired":[69],"link":[70],"Two":[72],"different":[73],"approaches":[74],"for":[75],"developing":[76],"manipulators":[78],"also":[80],"investigated.":[81]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}