{"id":"https://openalex.org/W2152049093","doi":"https://doi.org/10.1109/iros.2011.6094462","title":"Kinematic and dynamic analysis of a novel 6-DOF serial manipulator for underground distribution power lines","display_name":"Kinematic and dynamic analysis of a novel 6-DOF serial manipulator for underground distribution power lines","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2152049093","doi":"https://doi.org/10.1109/iros.2011.6094462","mag":"2152049093"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094462","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5113689749","display_name":"J-F Allan","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J-F Allan","raw_affiliation_strings":["Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025599170","display_name":"Samuel Lavoie","orcid":"https://orcid.org/0009-0005-8370-2415"},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Lavoie","raw_affiliation_strings":["Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018399844","display_name":"S. Reiher","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"S. Reiher","raw_affiliation_strings":["Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada","institution_ids":["https://openalex.org/I47099075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039505325","display_name":"Ghislain Lambert","orcid":null},"institutions":[{"id":"https://openalex.org/I47099075","display_name":"Hydro-Qu\u00e9bec","ror":"https://ror.org/01nhzsw25","country_code":"CA","type":"government","lineage":["https://openalex.org/I47099075"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G. Lambert","raw_affiliation_strings":["Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hydro-Qu\u00e9becs Research Institute (IREQ), Varennes, QUE, Canada","institution_ids":["https://openalex.org/I47099075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I47099075"],"apc_list":null,"apc_paid":null,"fwci":1.5444,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.83253754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"218","issue":null,"first_page":"1849","last_page":"1856"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T13715","display_name":"Power Line Inspection Robots","score":0.9994000196456909,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9912999868392944,"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/T12699","display_name":"Electromagnetic Launch and Propulsion Technology","score":0.9829999804496765,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/serial-manipulator","display_name":"Serial manipulator","score":0.7787973880767822},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.69282466173172},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.5543022155761719},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.544866681098938},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.518624484539032},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4910731315612793},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4829908609390259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4656689167022705},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.45529890060424805},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.44798073172569275},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4435844123363495},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.42858532071113586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4049839973449707},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3814029395580292},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34822964668273926},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.325509250164032},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.20575854182243347},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1061829924583435}],"concepts":[{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.7787973880767822},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.69282466173172},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.5543022155761719},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.544866681098938},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.518624484539032},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4910731315612793},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4829908609390259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4656689167022705},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.45529890060424805},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.44798073172569275},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4435844123363495},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.42858532071113586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4049839973449707},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3814029395580292},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34822964668273926},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.325509250164032},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.20575854182243347},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1061829924583435},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/iros.2011.6094462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094462","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1972251831","https://openalex.org/W1978811818","https://openalex.org/W2091651513","https://openalex.org/W2108431723","https://openalex.org/W2126041325","https://openalex.org/W2141569941","https://openalex.org/W2150407498","https://openalex.org/W2155052377","https://openalex.org/W2161415723","https://openalex.org/W2540147439","https://openalex.org/W2543118472","https://openalex.org/W6673169333"],"related_works":["https://openalex.org/W4388343518","https://openalex.org/W3148970067","https://openalex.org/W137099297","https://openalex.org/W2047126621","https://openalex.org/W2053241953","https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W1995115082","https://openalex.org/W2536148680","https://openalex.org/W2326914789"],"abstract_inverted_index":{"This":[0,55],"paper":[1,56],"presents":[2],"a":[3,35],"new":[4,42,63],"6-DOF":[5,36],"serial":[6,38],"manipulator":[7,26,39,43,91],"with":[8,86],"five":[9],"revolute":[10],"joints":[11],"and":[12,83,88],"one":[13],"prismatic":[14],"joint,":[15],"designed":[16,100],"to":[17,47,77,101],"operate":[18,102],"equipment":[19,103],"inside":[20],"Hydro-Que\u00bfbec":[21],"underground":[22,105],"distribution":[23,106],"vaults.":[24,54],"The":[25,41,90],"is":[27,45,92],"an":[28,65],"upgraded":[29],"model":[30,60,75],"developed":[31],"after":[32],"field":[33],"testing":[34],"wrist-partitioned":[37],"prototype.":[40],"architecture":[44],"intended":[46],"solve":[48],"space":[49],"constraint":[50],"problems":[51],"in":[52,97],"some":[53],"covers":[57],"the":[58,62,69,73,81,93,98],"geometrical":[59],"of":[61],"manipulator,":[64],"analytical":[66],"solution":[67],"for":[68],"inverse":[70],"kinematic":[71],"equations,":[72],"dynamic":[74],"used":[76],"compute":[78],"torques/forces":[79],"at":[80],"actuators,":[82],"simulations":[84],"performed":[85],"MATLAB":[87],"CATIA.":[89],"only":[94],"robot":[95],"application":[96],"world":[99],"on":[104],"power":[107],"lines.":[108]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
