{"id":"https://openalex.org/W4403534897","doi":"https://doi.org/10.1109/codit62066.2024.10708416","title":"Manipulability analysis to improve the performance of a 7-DoF serial manipulator <sup>*</sup>","display_name":"Manipulability analysis to improve the performance of a 7-DoF serial manipulator <sup>*</sup>","publication_year":2024,"publication_date":"2024-07-01","ids":{"openalex":"https://openalex.org/W4403534897","doi":"https://doi.org/10.1109/codit62066.2024.10708416"},"language":"en","primary_location":{"id":"doi:10.1109/codit62066.2024.10708416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5032519764","display_name":"Ali Kanso","orcid":"https://orcid.org/0000-0002-4366-841X"},"institutions":[{"id":"https://openalex.org/I4210106192","display_name":"Technische Hochschule Ingolstadt","ror":"https://ror.org/02bxzcy64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210106192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ali Kanso","raw_affiliation_strings":["Technische Hochschule Ingolstadt (THI),Ingolstadt,Germany,85049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Hochschule Ingolstadt (THI),Ingolstadt,Germany,85049","institution_ids":["https://openalex.org/I4210106192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015377349","display_name":"M. Schneider","orcid":"https://orcid.org/0000-0002-4918-1389"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marco Schneider","raw_affiliation_strings":["Chair of Assembly Systems at the Center Mechatronics and Automation Technologies,Saarbr&#x00FC;cken,Germany,66121"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Assembly Systems at the Center Mechatronics and Automation Technologies,Saarbr&#x00FC;cken,Germany,66121","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046890676","display_name":"Attique Bashir","orcid":"https://orcid.org/0009-0001-7708-2863"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Attique Bashir","raw_affiliation_strings":["Chair of Assembly Systems at the Center Mechatronics and Automation Technologies,Saarbr&#x00FC;cken,Germany,66121"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Assembly Systems at the Center Mechatronics and Automation Technologies,Saarbr&#x00FC;cken,Germany,66121","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111933351","display_name":"Rainer M\u00fcller","orcid":"https://orcid.org/0000-0001-9470-556X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rainer M\u00fcller","raw_affiliation_strings":["Chair of Assembly Systems at the Center Mechatronics and Automation Technologies,Saarbr&#x00FC;cken,Germany,66121"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Assembly Systems at the Center Mechatronics and Automation Technologies,Saarbr&#x00FC;cken,Germany,66121","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1183","last_page":"1188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9879999756813049,"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":0.9879999756813049,"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/T11032","display_name":"VLSI and Analog Circuit Testing","score":0.961899995803833,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13292","display_name":"Embedded Systems and FPGA Applications","score":0.9581000208854675,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/manipulator","display_name":"Manipulator (device)","score":0.752119779586792},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.7486072182655334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6306858062744141},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.46169933676719666},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.42582812905311584},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3804853558540344},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3335466682910919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2976052761077881},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22000464797019958},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18206679821014404},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16228404641151428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15285742282867432},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06699225306510925}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.752119779586792},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.7486072182655334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6306858062744141},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.46169933676719666},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.42582812905311584},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3804853558540344},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3335466682910919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2976052761077881},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22000464797019958},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18206679821014404},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16228404641151428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15285742282867432},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06699225306510925}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit62066.2024.10708416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W796041032","https://openalex.org/W2015114430","https://openalex.org/W2048614110","https://openalex.org/W2085545845","https://openalex.org/W2098874655","https://openalex.org/W2108111998","https://openalex.org/W2134178905","https://openalex.org/W2171868844","https://openalex.org/W2246023205","https://openalex.org/W2765300328","https://openalex.org/W4383702739","https://openalex.org/W6637408383","https://openalex.org/W6798672667"],"related_works":["https://openalex.org/W4214678870","https://openalex.org/W2145154791","https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2222614663","https://openalex.org/W2245353192","https://openalex.org/W2906293295","https://openalex.org/W2973099332","https://openalex.org/W2185220635"],"abstract_inverted_index":{"Redundant":[0],"robots":[1],"offer":[2],"significant":[3],"potential":[4],"for":[5,36,107],"optimization":[6],"strategies":[7],"aimed":[8],"at":[9],"enhancing":[10],"their":[11],"performance.":[12],"This":[13],"paper":[14],"conducts":[15],"a":[16,20,34,76,91,104],"kinematic":[17,30],"analysis":[18],"of":[19,45,53,69,82,98],"7-DoF":[21],"manipulator,":[22],"the":[23,28,38,43,46,51,54,61,66,70,80,86,96,99,108],"KUKA":[24],"LBR":[25],"iiwa,":[26],"addressing":[27],"inverse":[29],"problem":[31],"and":[32,48],"discussing":[33],"method":[35],"optimizing":[37],"robot":[39,47,93],"configuration":[40],"to":[41],"improve":[42],"manipulability":[44],"therefore":[49],"increase":[50],"accuracy":[52,97],"estimated":[55,100],"force":[56,101],"based":[57],"on":[58],"measurements":[59],"from":[60],"joint-integrated":[62],"torque":[63],"sensors.":[64],"Furthermore,":[65],"condition":[67],"number":[68],"Jacobian":[71],"matrix":[72],"is":[73],"introduced":[74],"as":[75,103],"performance":[77,105],"index":[78],"within":[79],"context":[81],"this":[83],"work.":[84],"Finally,":[85],"results":[87],"are":[88],"validated":[89],"through":[90],"sensitive":[92],"application,":[94],"where":[95],"serves":[102],"indicator":[106],"manipulator.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}