{"id":"https://openalex.org/W2108006563","doi":"https://doi.org/10.1109/jra.1987.1087135","title":"Analysis of discrete dynamic robot models","display_name":"Analysis of discrete dynamic robot models","publication_year":1987,"publication_date":"1987-12-01","ids":{"openalex":"https://openalex.org/W2108006563","doi":"https://doi.org/10.1109/jra.1987.1087135","mag":"2108006563"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1987.1087135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087135","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/A5000575684","display_name":"Tsu\u2010Tian Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I143302722","display_name":"University of Kentucky","ror":"https://ror.org/02k3smh20","country_code":"US","type":"education","lineage":["https://openalex.org/I143302722"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tsu-Tian Lee","raw_affiliation_strings":["Department of Electrical Engineering, University of Kentucky, Lexington, KY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University of Kentucky, Lexington, KY, USA","institution_ids":["https://openalex.org/I143302722"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109227793","display_name":"YUH-FENG TSAY","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yuh-Feng Tsay","raw_affiliation_strings":["Institute of Electronics, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Institute of Electronics, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5000575684"],"corresponding_institution_ids":["https://openalex.org/I143302722"],"apc_list":null,"apc_paid":null,"fwci":0.7234,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74848593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":"6","first_page":"583","last_page":"590"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.995199978351593,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9794999957084656,"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/transformation-matrix","display_name":"Transformation matrix","score":0.7153053283691406},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.6445873975753784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5709981918334961},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.553861141204834},{"id":"https://openalex.org/keywords/orthogonal-polynomials","display_name":"Orthogonal polynomials","score":0.5359732508659363},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.5077975392341614},{"id":"https://openalex.org/keywords/algebraic-number","display_name":"Algebraic number","score":0.503670871257782},{"id":"https://openalex.org/keywords/discrete-modelling","display_name":"Discrete modelling","score":0.471633642911911},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4576804041862488},{"id":"https://openalex.org/keywords/algebraic-equation","display_name":"Algebraic equation","score":0.4558696448802948},{"id":"https://openalex.org/keywords/orthogonal-matrix","display_name":"Orthogonal matrix","score":0.4452018737792969},{"id":"https://openalex.org/keywords/discrete-system","display_name":"Discrete system","score":0.4295156002044678},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.40447115898132324},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.32658618688583374},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30680787563323975},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3033807873725891},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13066896796226501},{"id":"https://openalex.org/keywords/orthogonal-basis","display_name":"Orthogonal basis","score":0.10848906636238098},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09633323550224304},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08069095015525818}],"concepts":[{"id":"https://openalex.org/C165443888","wikidata":"https://www.wikidata.org/wiki/Q1482183","display_name":"Transformation matrix","level":3,"score":0.7153053283691406},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.6445873975753784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5709981918334961},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.553861141204834},{"id":"https://openalex.org/C10628310","wikidata":"https://www.wikidata.org/wiki/Q619458","display_name":"Orthogonal polynomials","level":2,"score":0.5359732508659363},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.5077975392341614},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.503670871257782},{"id":"https://openalex.org/C81146285","wikidata":"https://www.wikidata.org/wiki/Q5282053","display_name":"Discrete modelling","level":3,"score":0.471633642911911},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4576804041862488},{"id":"https://openalex.org/C23917780","wikidata":"https://www.wikidata.org/wiki/Q50698","display_name":"Algebraic equation","level":3,"score":0.4558696448802948},{"id":"https://openalex.org/C44292817","wikidata":"https://www.wikidata.org/wiki/Q333871","display_name":"Orthogonal matrix","level":3,"score":0.4452018737792969},{"id":"https://openalex.org/C96314035","wikidata":"https://www.wikidata.org/wiki/Q5282062","display_name":"Discrete system","level":2,"score":0.4295156002044678},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.40447115898132324},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.32658618688583374},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30680787563323975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3033807873725891},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13066896796226501},{"id":"https://openalex.org/C187064257","wikidata":"https://www.wikidata.org/wiki/Q3306808","display_name":"Orthogonal basis","level":2,"score":0.10848906636238098},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09633323550224304},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08069095015525818},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jra.1987.1087135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1987.1087135","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":14,"referenced_works":["https://openalex.org/W1556795538","https://openalex.org/W1574514837","https://openalex.org/W1968892573","https://openalex.org/W1979376248","https://openalex.org/W1995365180","https://openalex.org/W2014463819","https://openalex.org/W2016098423","https://openalex.org/W2036387398","https://openalex.org/W2056515188","https://openalex.org/W2109631249","https://openalex.org/W2116057615","https://openalex.org/W2134357662","https://openalex.org/W2316584926","https://openalex.org/W2323258075"],"related_works":["https://openalex.org/W2617472381","https://openalex.org/W2348064277","https://openalex.org/W2088055129","https://openalex.org/W2096989490","https://openalex.org/W2359442567","https://openalex.org/W2097723790","https://openalex.org/W2369341307","https://openalex.org/W2369726864","https://openalex.org/W2032057922","https://openalex.org/W1996145535"],"abstract_inverted_index":{"The":[0,10,59],"discrete":[1,11,24,39,50,55,74],"shift-transformation":[2,12,40],"matrix":[3,13],"of":[4,49,73],"general":[5],"orthogonal":[6,56,75],"polynomials":[7,57,76],"is":[8,14],"introduced.":[9],"employed":[15],"to":[16],"transform":[17],"the":[18,23,38,44,69],"difference":[19],"equations,":[20],"which":[21],"describe":[22],"dynamic":[25,51],"robot":[26,52,67],"model,":[27],"into":[28],"algebraic":[29],"equations.":[30],"Several":[31],"lemmas":[32],"are":[33],"introduced":[34],"which,":[35],"together":[36],"with":[37,63],"matrix,":[41],"solve":[42],"for":[43],"joint":[45],"positions":[46],"and":[47,71],"velocities":[48],"models":[53],"via":[54],"approximations.":[58,77],"initial":[60],"numerical":[61],"experiment":[62],"a":[64],"cylindrical":[65],"coordinate":[66],"shows":[68],"feasibility":[70],"applicability":[72]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
