{"id":"https://openalex.org/W1637122633","doi":"https://doi.org/10.1109/icinfa.2015.7279404","title":"Geometric approach for inverse kinematics analysis of 6-Dof serial robot","display_name":"Geometric approach for inverse kinematics analysis of 6-Dof serial robot","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1637122633","doi":"https://doi.org/10.1109/icinfa.2015.7279404","mag":"1637122633"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","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/A5073966822","display_name":"Yuan Liu","orcid":"https://orcid.org/0000-0001-5446-727X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuan Liu","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101863161","display_name":"Daqing Wang","orcid":"https://orcid.org/0000-0002-4060-4234"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqing Wang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102915703","display_name":"Jian Sun","orcid":"https://orcid.org/0000-0002-0422-0911"},"institutions":[{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Sun","raw_affiliation_strings":["Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104146324","display_name":"Li Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Chang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013022801","display_name":"ChengXue Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"ChengXue Ma","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100882424","display_name":"Yunjian Ge","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjian Ge","raw_affiliation_strings":["Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051062238","display_name":"Lifu Gao","orcid":"https://orcid.org/0000-0002-8653-5633"},"institutions":[{"id":"https://openalex.org/I4210099079","display_name":"Institute of Intelligent Machines","ror":"https://ror.org/00w0qep84","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210099079"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifu Gao","raw_affiliation_strings":["Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China","institution_ids":["https://openalex.org/I4210099079","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5073966822"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I4210099079"],"apc_list":null,"apc_paid":null,"fwci":2.3562,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.89020945,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"852","last_page":"855"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9933000206947327,"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/T10868","display_name":"Soft Robotics and Applications","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8612541556358337},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7903646230697632},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7618417739868164},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.7070879936218262},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.6294107437133789},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.623846709728241},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.6227179169654846},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5887309312820435},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5508319735527039},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4895714223384857},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4603118896484375},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.43777868151664734},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35858094692230225},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34619584679603577},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33012378215789795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26921266317367554},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.25445106625556946},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20507940649986267},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15187960863113403},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.13377603888511658}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8612541556358337},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7903646230697632},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7618417739868164},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.7070879936218262},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.6294107437133789},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.623846709728241},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.6227179169654846},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5887309312820435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5508319735527039},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4895714223384857},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4603118896484375},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.43777868151664734},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35858094692230225},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34619584679603577},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33012378215789795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26921266317367554},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.25445106625556946},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20507940649986267},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15187960863113403},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.13377603888511658},{"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.44999998807907104,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1970966832","https://openalex.org/W1976730947","https://openalex.org/W1983776203","https://openalex.org/W1997864979","https://openalex.org/W2348882139","https://openalex.org/W2373810914","https://openalex.org/W2381256239","https://openalex.org/W7002550203"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W1969999327","https://openalex.org/W3030642493","https://openalex.org/W4283266117","https://openalex.org/W3126987580","https://openalex.org/W2607470227","https://openalex.org/W2991355169","https://openalex.org/W2744818472"],"abstract_inverted_index":{"The":[0],"typical":[1],"serial":[2],"robot":[3],"Motoman":[4],"with":[5],"six":[6],"joints,":[7],"high-speed":[8],"and":[9,30,61],"wide-workspace,":[10],"for":[11],"which":[12],"inverse":[13,38],"module":[14],"is":[15,28,34],"designed":[16],"by":[17,56],"Denavit-Hartenberg":[18],"Matrix.":[19],"According":[20],"to":[21,36],"D-H":[22],"Parameters,":[23],"the":[24,37,50,53,58,63,71],"forward":[25],"kinematics":[26,65],"solution":[27],"analyzed":[29],"a":[31],"Geometric":[32],"Approach":[33],"used":[35],"solution.":[39,66],"A":[40],"simulation":[41],"example":[42],"through":[43],"circular":[44],"interpolation":[45],"method":[46],"on":[47],"vs2013":[48],"shows":[49],"effectiveness":[51],"of":[52,73],"proposed":[54],"approach":[55],"comparing":[57],"circles":[59],"before":[60],"after":[62],"forward/inverse":[64],"Finally,":[67],"this":[68,74],"paper":[69],"analysed":[70],"characteristics":[72],"algorithm.":[75]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
