{"id":"https://openalex.org/W2109718624","doi":"https://doi.org/10.1109/robio.2007.4522414","title":"Inverse kinematics problem for 6-DOF space manipulator based on the theory of screws","display_name":"Inverse kinematics problem for 6-DOF space manipulator based on the theory of screws","publication_year":2007,"publication_date":"2007-12-01","ids":{"openalex":"https://openalex.org/W2109718624","doi":"https://doi.org/10.1109/robio.2007.4522414","mag":"2109718624"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2007.4522414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5103296357","display_name":"Jian Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Xie","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100953473","display_name":"Wenyi Qiang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyi Qiang","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Shenzhen Space Technology Center, HIT Research Institute, Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Space Technology Center, HIT Research Institute, Shenzhen, Shenzhen, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106084673","display_name":"Cheng Li","orcid":"https://orcid.org/0000-0002-8123-2190"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng Li","raw_affiliation_strings":["Shenzhen Space Technology Center, HIT Research Institute, Shenzhen, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Space Technology Center, HIT Research Institute, Shenzhen, Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103296357"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.7585,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.88120813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1659","last_page":"1663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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":0.9990000128746033,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9972000122070312,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"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":0.8548434972763062},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8042069673538208},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.680560827255249},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5436645150184631},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.5237645506858826},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5135664939880371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4767409563064575},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.42712414264678955},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.41480371356010437},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.41117945313453674},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.40359097719192505},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36611223220825195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3157782256603241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21777033805847168},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15938755869865417},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14151230454444885},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11077553033828735},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08135783672332764},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07197195291519165}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8548434972763062},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8042069673538208},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.680560827255249},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5436645150184631},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.5237645506858826},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5135664939880371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4767409563064575},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.42712414264678955},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.41480371356010437},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.41117945313453674},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.40359097719192505},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36611223220825195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3157782256603241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21777033805847168},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15938755869865417},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14151230454444885},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11077553033828735},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08135783672332764},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07197195291519165},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2007.4522414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W22006532","https://openalex.org/W1564897360","https://openalex.org/W1969201448","https://openalex.org/W1977866635","https://openalex.org/W1996743575","https://openalex.org/W2042296069","https://openalex.org/W2086883518","https://openalex.org/W2118087838","https://openalex.org/W2125383767","https://openalex.org/W2149186423","https://openalex.org/W2163949987","https://openalex.org/W2183527793","https://openalex.org/W2329401324","https://openalex.org/W2581756687","https://openalex.org/W2583160044","https://openalex.org/W3217246742","https://openalex.org/W4243737224","https://openalex.org/W6633694296","https://openalex.org/W6644693385","https://openalex.org/W6686255822","https://openalex.org/W6733026884"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W2351331567","https://openalex.org/W1969999327","https://openalex.org/W4256303909","https://openalex.org/W1891563319","https://openalex.org/W3183163922","https://openalex.org/W2004793478"],"abstract_inverted_index":{"Space":[0],"manipulators":[1],"will":[2],"play":[3],"a":[4,38,74],"significant":[5],"role":[6],"in":[7,28,127],"the":[8,29,43,53,59,65,81,85,101,113,119,122,134,138,156,160],"maintenance":[9],"and":[10,15,17,72,111,162],"repair":[11],"of":[12,32,47,55,68,84,106,121,140],"space":[13,19,33,49,70,91,108,114],"stations":[14],"satellites,":[16],"other":[18,132],"missions.":[20],"The":[21,35,77,93],"inverse":[22,44,60,86],"kinematics":[23,45,61,66,87],"is":[24,97,125,146,166],"an":[25],"important":[26],"problem":[27,46,88],"automatic":[30],"control":[31],"manipulator.":[34,92],"paper":[36],"presents":[37],"novel":[39,75],"method":[40,78,123,135],"for":[41,89],"solving":[42],"6-DOF":[48,69,90],"manipulator":[50,71,115],"based":[51,136],"on":[52,137],"theory":[54,139],"screws.":[56],"To":[57],"solve":[58],"problem,":[62],"we":[63],"formulate":[64],"equations":[67],"study":[73],"method.":[76],"can":[79],"give":[80],"analytic":[82],"solutions":[83],"virtual":[94],"prototyping":[95],"technology":[96],"used":[98],"to":[99,148,153],"model":[100],"6-dof":[102],"mechanical":[103],"arm":[104],"system":[105],"Free-Flying":[107],"Robot":[109],"(FFR)":[110],"simulate":[112],"system,":[116],"it":[117],"shows":[118],"validity":[120],"which":[124],"presented":[126],"this":[128],"paper.":[129],"Compared":[130],"with":[131],"methods,":[133],"screws":[141],"just":[142],"establish":[143],"two":[144],"coordinates,":[145],"applicable":[147],"real-time":[149],"control,":[150],"allows":[151],"one":[152],"directly":[154],"choose":[155],"desired":[157],"configuration":[158],"from":[159],"multi-solutions":[161],"its":[163],"geometry":[164],"meaning":[165],"obvious.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
