{"id":"https://openalex.org/W2042573223","doi":"https://doi.org/10.1109/aim.2014.6878271","title":"An approach for obtaining unique kinematic solutions of a spherical parallel manipulator","display_name":"An approach for obtaining unique kinematic solutions of a spherical parallel manipulator","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W2042573223","doi":"https://doi.org/10.1109/aim.2014.6878271","mag":"2042573223"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2014.6878271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2014.6878271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-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/A5049045539","display_name":"Aibek Niyetkaliyev","orcid":"https://orcid.org/0000-0003-3240-8556"},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":true,"raw_author_name":"Aibek Niyetkaliyev","raw_affiliation_strings":["Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan","Department of Robotics and Mechatronics, and Nazarbayev University Research and Innovation System, Nazarbayev University, 53 Kabanbay batyr Ave, Astana, 010000 Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, and Nazarbayev University Research and Innovation System, Nazarbayev University, 53 Kabanbay batyr Ave, Astana, 010000 Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056351433","display_name":"Almas Shintemirov","orcid":"https://orcid.org/0000-0002-6969-8529"},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Almas Shintemirov","raw_affiliation_strings":["Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan","Department of Robotics and Mechatronics, and Nazarbayev University Research and Innovation System, Nazarbayev University, 53 Kabanbay batyr Ave, Astana, 010000 Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, Nazarbayev University, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]},{"raw_affiliation_string":"Department of Robotics and Mechatronics, and Nazarbayev University Research and Innovation System, Nazarbayev University, 53 Kabanbay batyr Ave, Astana, 010000 Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049045539"],"corresponding_institution_ids":["https://openalex.org/I60559429"],"apc_list":null,"apc_paid":null,"fwci":3.2816,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.92236929,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1355","last_page":"1360"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/revolute-joint","display_name":"Revolute joint","score":0.9328125715255737},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.8473645448684692},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8336787819862366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6137473583221436},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5872493386268616},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.5565648078918457},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5215209126472473},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.49755170941352844},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.412389874458313},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.4109213352203369},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3817571699619293},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32209959626197815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26888012886047363},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20656174421310425},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.1629527509212494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.155491441488266},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13234373927116394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12779301404953003}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9328125715255737},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.8473645448684692},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8336787819862366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6137473583221436},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5872493386268616},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.5565648078918457},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5215209126472473},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.49755170941352844},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.412389874458313},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.4109213352203369},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3817571699619293},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32209959626197815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26888012886047363},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20656174421310425},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.1629527509212494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.155491441488266},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13234373927116394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12779301404953003},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2014.6878271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2014.6878271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.714.5381","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.714.5381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.alaris.kz/wp-content/uploads/2014/08/AIM2014_Niyetkaliyev_Shintemirov.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W134625316","https://openalex.org/W1973027877","https://openalex.org/W1988205606","https://openalex.org/W2000247393","https://openalex.org/W2017797320","https://openalex.org/W2021728749","https://openalex.org/W2031838769","https://openalex.org/W2041368296","https://openalex.org/W2062919767","https://openalex.org/W2065071723","https://openalex.org/W2092912577","https://openalex.org/W2105282492","https://openalex.org/W2118250500","https://openalex.org/W2129504387","https://openalex.org/W2134834089","https://openalex.org/W2144682848","https://openalex.org/W2148978826","https://openalex.org/W2234285095","https://openalex.org/W3102280038","https://openalex.org/W6605536905","https://openalex.org/W6785433330"],"related_works":["https://openalex.org/W4388343518","https://openalex.org/W3148970067","https://openalex.org/W137099297","https://openalex.org/W2047126621","https://openalex.org/W1995115082","https://openalex.org/W2366816474","https://openalex.org/W2391892769","https://openalex.org/W2004793478","https://openalex.org/W2537091977","https://openalex.org/W4205287803"],"abstract_inverted_index":{"In":[0],"this":[1,83],"paper":[2],"an":[3],"approach":[4,40,84],"for":[5],"obtaining":[6],"unique":[7],"solutions":[8],"to":[9,88],"forward":[10],"and":[11,37,68,93],"inverse":[12],"kinematics":[13],"of":[14,28,46,75,102],"a":[15,29],"spherical":[16],"parallel":[17],"manipulator":[18],"(SPM)":[19],"system":[20],"with":[21,32,66,90],"revolute":[22,33],"joints":[23,34],"is":[24,35,41,63,80],"proposed.":[25],"Kinematic":[26],"analysis":[27],"general":[30],"SPM":[31,59],"revisited":[36],"the":[38,44,73,76],"proposed":[39,77],"formulated":[42],"in":[43,52,97],"form":[45],"easy-to-follow":[47],"algorithms":[48],"that":[49,71,82],"are":[50],"described":[51],"detail.":[53],"A":[54],"graphical":[55],"verification":[56],"method":[57],"using":[58],"computer-aided-design":[60],"(CAD)":[61],"models":[62],"presented":[64],"together":[65],"numerical":[67],"experimental":[69],"examples":[70],"confirm":[72],"correctness":[74],"approach.":[78],"It":[79],"expected":[81],"can":[85,94],"be":[86,95],"applied":[87],"SPMs":[89],"different":[91],"geometries":[92],"useful":[96],"designing":[98],"real-time":[99],"control":[100],"systems":[101],"SPMs.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}