{"id":"https://openalex.org/W2035368390","doi":"https://doi.org/10.1109/jra.1985.1087016","title":"Recursive computations of kinematic and dynamic equations for mechanical manipulators","display_name":"Recursive computations of kinematic and dynamic equations for mechanical manipulators","publication_year":1985,"publication_date":"1985-01-01","ids":{"openalex":"https://openalex.org/W2035368390","doi":"https://doi.org/10.1109/jra.1985.1087016","mag":"2035368390"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1985.1087016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1985.1087016","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-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/A5026387175","display_name":"L. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"L. Wang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, WI, USA","University of Wisconsin- Madison Madison WI USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"University of Wisconsin- Madison Madison WI USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089753988","display_name":"Bahram Ravani","orcid":"https://orcid.org/0000-0002-7616-2407"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Ravani","raw_affiliation_strings":["Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, WI, USA","Department of Mechanical Engineering , University of Wisconsin\u2013Madison , Madison, WI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"Department of Mechanical Engineering , University of Wisconsin\u2013Madison , Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026387175"],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":6.0874,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.96356383,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"1","issue":"3","first_page":"124","last_page":"131"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987999796867371,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9943000078201294,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8161166906356812},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8059675097465515},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.7735912799835205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5359694957733154},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.44252145290374756},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4200182259082794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39298978447914124},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3423464894294739},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3262110650539398},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3189150393009186},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3046458065509796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18076005578041077},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14402595162391663},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08133432269096375},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.0658094584941864}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8161166906356812},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8059675097465515},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7735912799835205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5359694957733154},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.44252145290374756},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4200182259082794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39298978447914124},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3423464894294739},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3262110650539398},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3189150393009186},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3046458065509796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18076005578041077},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14402595162391663},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08133432269096375},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0658094584941864},{"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/jra.1985.1087016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1985.1087016","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1558404930","https://openalex.org/W1582353822","https://openalex.org/W1966552874","https://openalex.org/W1973862175","https://openalex.org/W1993740947","https://openalex.org/W2004609114","https://openalex.org/W2017582716","https://openalex.org/W2038840901","https://openalex.org/W2060192308","https://openalex.org/W2064263864","https://openalex.org/W2080017937","https://openalex.org/W2080451606","https://openalex.org/W2100790457","https://openalex.org/W2132294818","https://openalex.org/W2141250450","https://openalex.org/W2159806973","https://openalex.org/W2246023205","https://openalex.org/W3166175008","https://openalex.org/W4241187624"],"related_works":["https://openalex.org/W4240233348","https://openalex.org/W2331850854","https://openalex.org/W2059363081","https://openalex.org/W2145154791","https://openalex.org/W2009164778","https://openalex.org/W3044940660","https://openalex.org/W3161599300","https://openalex.org/W2119963650","https://openalex.org/W4385195195","https://openalex.org/W2890752982"],"abstract_inverted_index":{"Computational":[0],"kinematics":[1],"and":[2,37,40,50,66],"dynamics":[3],"of":[4,18,26,46,59,70,90],"robot":[5],"manipulators":[6],"are":[7,63],"dealt":[8],"with.":[9],"A":[10],"recursive":[11],"method":[12,32],"based":[13],"on":[14],"the":[15,24,27,44,47,60,71,81,91],"vector":[16],"form":[17],"Rodrigues'":[19],"equation":[20],"is":[21,41,78],"presented":[22,83],"for":[23,34,53],"computation":[25],"associated":[28],"coordinate":[29],"transformations.":[30],"The":[31,56],"allows":[33],"forward,":[35],"backward,":[36],"two-way":[38],"recursions":[39],"applied":[42],"to":[43,68],"computations":[45],"Jacobian":[48],"matrices":[49],"dynamic":[51],"equations":[52,62],"mechanical":[54],"manipulators.":[55],"computational":[57,86],"complexities":[58],"resulting":[61],"also":[64],"evaluated":[65],"compared":[67],"some":[69],"existing":[72,92],"methods":[73],"in":[74],"each":[75],"case.":[76],"It":[77],"shown":[79],"that":[80],"algorithms":[82],"have":[84],"certain":[85],"advantages":[87],"over":[88],"most":[89],"methods.":[93]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}