{"id":"https://openalex.org/W2809943142","doi":"https://doi.org/10.1109/icphys.2018.8390702","title":"Kinematic solution and singularity analysis for 7-DOF redundant manipulators with offsets at the elbow","display_name":"Kinematic solution and singularity analysis for 7-DOF redundant manipulators with offsets at the elbow","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2809943142","doi":"https://doi.org/10.1109/icphys.2018.8390702","mag":"2809943142"},"language":"en","primary_location":{"id":"doi:10.1109/icphys.2018.8390702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icphys.2018.8390702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Industrial Cyber-Physical Systems (ICPS)","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/A5005167651","display_name":"Zhongde Chen","orcid":"https://orcid.org/0000-0002-4949-908X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongde Chen","raw_affiliation_strings":["Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080410318","display_name":"Zhiying Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiying Zeng","raw_affiliation_strings":["Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045207101","display_name":"Guang Shu","orcid":"https://orcid.org/0000-0002-3062-3132"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guang Shu","raw_affiliation_strings":["Yungtay Elevator Equipment CO.LTD., Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Yungtay Elevator Equipment CO.LTD., Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5005167651"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.7357,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.71600803,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"422","last_page":"427"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9973000288009644,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.992900013923645,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8941214680671692},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.850287914276123},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6594644784927368},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6208701133728027},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6149941682815552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44426313042640686},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4181780219078064},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39479848742485046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3466966152191162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23674139380455017},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.21535462141036987},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1618923842906952},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06375059485435486},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06353184580802917}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8941214680671692},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.850287914276123},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6594644784927368},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6208701133728027},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6149941682815552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44426313042640686},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4181780219078064},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39479848742485046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3466966152191162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23674139380455017},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.21535462141036987},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1618923842906952},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06375059485435486},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06353184580802917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icphys.2018.8390702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icphys.2018.8390702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Industrial Cyber-Physical Systems (ICPS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1557243051","https://openalex.org/W2042803738","https://openalex.org/W2064431765","https://openalex.org/W2110395933","https://openalex.org/W2114000612","https://openalex.org/W2117758942","https://openalex.org/W2124994918","https://openalex.org/W2153247018","https://openalex.org/W2291700020","https://openalex.org/W2378028481","https://openalex.org/W2546032090","https://openalex.org/W2781105378","https://openalex.org/W6676991758"],"related_works":["https://openalex.org/W2353085251","https://openalex.org/W4240233348","https://openalex.org/W2379794025","https://openalex.org/W2009316821","https://openalex.org/W2166615337","https://openalex.org/W2358210647","https://openalex.org/W2144801384","https://openalex.org/W2158743457","https://openalex.org/W1985623390","https://openalex.org/W2355238070"],"abstract_inverted_index":{"Redundant":[0],"manipulators":[1],"can":[2],"accomplish":[3],"much":[4],"more":[5],"challenging":[6],"tasks":[7],"than":[8],"traditional":[9],"industrial":[10,145],"manipulators.":[11],"However,":[12],"it":[13],"is":[14,65,74,86,104,119,140],"tedious":[15],"to":[16,47,76,106],"compute":[17],"the":[18,43,62,78,82,99,108,113,124,128,133],"analytical":[19,51],"inverse":[20,52],"kinematic":[21,53],"solution":[22,54],"and":[23,81,94,123,130],"analyze":[24],"it's":[25],"singularity":[26,84,92,96],"configurations":[27],"with":[28,59],"Jacobian":[29,79],"matrix.":[30],"No":[31],"general":[32],"closed-form":[33,50],"techniques":[34],"have":[35],"been":[36],"developed":[37],"so":[38],"far.":[39],"This":[40],"paper":[41],"uses":[42],"joint":[44],"parameterization":[45],"method":[46,73],"derive":[48],"a":[49,56],"of":[55,101,112,116,132],"7-DOF":[57],"manipulator":[58,118],"offset":[60],"at":[61],"elbow":[63],"which":[64,139],"made":[66],"by":[67,121],"Kinova":[68],"Robotics.":[69],"Then":[70],"vector":[71],"product":[72],"proposed":[75,105,134],"calculate":[77],"matrix":[80],"complex":[83],"problem":[85,93],"decoupled":[87],"into":[88],"quite":[89],"simple":[90],"position":[91],"orientation":[95],"problem.":[97],"Moreover,":[98],"approach":[100],"damped":[102],"least-squares":[103],"avoid":[107],"singularity.":[109],"The":[110],"simulation":[111,125],"joints'":[114],"movement":[115],"this":[117,137],"implemented":[120],"MATLAB":[122],"results":[126],"validate":[127],"reliability":[129],"high-efficiency":[131],"algorithm":[135],"in":[136,144],"paper,":[138],"suitable":[141],"for":[142],"application":[143],"robot":[146],"control.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
