{"id":"https://openalex.org/W3120227323","doi":"https://doi.org/10.1109/icarcv50220.2020.9305334","title":"Inverse Kinematics Determination and Trajectory Tracking Algorithm Development of a Robot with 7 Joints","display_name":"Inverse Kinematics Determination and Trajectory Tracking Algorithm Development of a Robot with 7 Joints","publication_year":2020,"publication_date":"2020-12-13","ids":{"openalex":"https://openalex.org/W3120227323","doi":"https://doi.org/10.1109/icarcv50220.2020.9305334","mag":"3120227323"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv50220.2020.9305334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv50220.2020.9305334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5084154381","display_name":"Wojciech Kreft","orcid":"https://orcid.org/0000-0003-3270-5585"},"institutions":[{"id":"https://openalex.org/I686019","display_name":"AGH University of Krakow","ror":"https://ror.org/00bas1c41","country_code":"PL","type":"education","lineage":["https://openalex.org/I686019"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Wojciech Kreft","raw_affiliation_strings":["AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering, Krakow, Poland"],"affiliations":[{"raw_affiliation_string":"AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Biomedical Engineering, Krakow, Poland","institution_ids":["https://openalex.org/I686019"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5084154381"],"corresponding_institution_ids":["https://openalex.org/I686019"],"apc_list":null,"apc_paid":null,"fwci":0.2942,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58173691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1001","last_page":"1007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9947999715805054,"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/T13312","display_name":"Mechanical and Thermal Properties Analysis","score":0.9926999807357788,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.8330199718475342},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7544592618942261},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.7020115852355957},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6840803623199463},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6796678304672241},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6686239838600159},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6316861510276794},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.627518892288208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5384966731071472},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.5312981605529785},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5043326616287231},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4898785948753357},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48262819647789},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.47193214297294617},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4418230652809143},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4407424032688141},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43680456280708313},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4353090524673462},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26511797308921814},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26097726821899414},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09462320804595947},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09334489703178406},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06650513410568237}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8330199718475342},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7544592618942261},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.7020115852355957},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6840803623199463},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6796678304672241},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6686239838600159},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6316861510276794},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.627518892288208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5384966731071472},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.5312981605529785},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5043326616287231},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4898785948753357},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48262819647789},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.47193214297294617},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4418230652809143},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4407424032688141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43680456280708313},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4353090524673462},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26511797308921814},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26097726821899414},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09462320804595947},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09334489703178406},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06650513410568237},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv50220.2020.9305334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv50220.2020.9305334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W2009563859","https://openalex.org/W2039750628","https://openalex.org/W2062691475","https://openalex.org/W2198888392","https://openalex.org/W2257341659","https://openalex.org/W2346681476","https://openalex.org/W2462789434","https://openalex.org/W2791163102","https://openalex.org/W2809752599","https://openalex.org/W2904787458","https://openalex.org/W2913764430","https://openalex.org/W2942307437","https://openalex.org/W2970266511","https://openalex.org/W2984441430","https://openalex.org/W2997750595","https://openalex.org/W3002539589"],"related_works":["https://openalex.org/W4283266117","https://openalex.org/W2304947037","https://openalex.org/W3213993864","https://openalex.org/W2792156965","https://openalex.org/W3135439126","https://openalex.org/W2970937359","https://openalex.org/W2466274878","https://openalex.org/W4226198400","https://openalex.org/W2124274328","https://openalex.org/W3120227323"],"abstract_inverted_index":{"The":[0,49,76,111],"analyzed":[1,65],"robot":[2,12,66],"has":[3],"7":[4],"actuators":[5],"and":[6,15,39,67,92,126],"therefore":[7],"it":[8],"is":[9,44,84],"a":[10,36,73,86,102],"redundant":[11],"whose":[13],"position":[14,38,91],"orientation":[16,40,93],"of":[17,28,31,41,54,63,71,79,94,116,120],"the":[18,42,52,59,64,69,80,90,95,114,117],"end-effector":[19,43,96],"can":[20],"generally":[21],"be":[22,99],"set":[23,37],"in":[24,89,105],"an":[25,121],"infinite":[26],"number":[27],"ways.":[29],"Determination":[30],"joint":[32],"angles":[33],"that":[34,85],"implement":[35],"difficult":[45],"for":[46,58,127],"this":[47],"robot.":[48,134],"paper":[50,112],"presents":[51,68],"method":[53],"determining":[55],"analytical":[56],"formulas":[57],"inverse":[60],"kinematics":[61],"problem":[62],"idea":[70,78],"selection":[72],"particular":[74],"solution.":[75],"basic":[77],"trajectory":[81],"tracking":[82,118],"algorithm":[83,119],"slight":[87,103],"change":[88,104],"must":[97],"also":[98],"associated":[100],"with":[101],"angular":[106],"positions":[107],"on":[108],"individual":[109],"joints.":[110],"shows":[113],"operation":[115],"exemplary":[122],"trajectory,":[123],"both":[124],"simulation":[125],"real":[128],"KINOV":[129],"A\u00ae":[130],"Gen3":[131],"Ultra":[132],"lightweight":[133]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
