{"id":"https://openalex.org/W2139691007","doi":"https://doi.org/10.1109/robot.1985.1087237","title":"Improved numerical solutions of inverse kinematics of robots","display_name":"Improved numerical solutions of inverse kinematics of robots","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2139691007","doi":"https://doi.org/10.1109/robot.1985.1087237","mag":"2139691007"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5020228030","display_name":"Krishna Kumar Gupta","orcid":"https://orcid.org/0000-0003-1419-7951"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"K. Gupta","raw_affiliation_strings":["Department of Mechanical Engineering, University of Illinois at Chicago"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Illinois at Chicago","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064791506","display_name":"Kazem Kazerounian","orcid":"https://orcid.org/0009-0004-7115-0070"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Kazerounian","raw_affiliation_strings":["Department of Mechanical Engineering, University of Connecticut"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Connecticut","institution_ids":["https://openalex.org/I140172145"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5020228030"],"corresponding_institution_ids":["https://openalex.org/I39422238"],"apc_list":null,"apc_paid":null,"fwci":2.8739,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.91165441,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"743","last_page":"748"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9991999864578247,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9944999814033508,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7718508243560791},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.7422420382499695},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.600448489189148},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5951210260391235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.571654736995697},{"id":"https://openalex.org/keywords/newtons-method","display_name":"Newton's method","score":0.5246434807777405},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.5083116888999939},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4952322542667389},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46822115778923035},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4558379650115967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3723953366279602},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27043941617012024},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17556053400039673},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11036303639411926},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1079908013343811},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0985560417175293}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7718508243560791},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.7422420382499695},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.600448489189148},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5951210260391235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.571654736995697},{"id":"https://openalex.org/C85189116","wikidata":"https://www.wikidata.org/wiki/Q374195","display_name":"Newton's method","level":3,"score":0.5246434807777405},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.5083116888999939},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4952322542667389},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46822115778923035},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4558379650115967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3723953366279602},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27043941617012024},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17556053400039673},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11036303639411926},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1079908013343811},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0985560417175293},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1985.1087237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W212594717","https://openalex.org/W1536101558","https://openalex.org/W1555459452","https://openalex.org/W1558446093","https://openalex.org/W1566628402","https://openalex.org/W1965634432","https://openalex.org/W1990129855","https://openalex.org/W1995334068","https://openalex.org/W2051839445","https://openalex.org/W2071371761","https://openalex.org/W2095530804","https://openalex.org/W2101125880","https://openalex.org/W2122206747","https://openalex.org/W2144230201","https://openalex.org/W3168095073","https://openalex.org/W4241187624","https://openalex.org/W6674424179"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"Numerical":[0],"solution":[1,32],"of":[2,6,44,48],"the":[3,49,63,66,78,93,103],"inverse":[4],"kinematics":[5],"robots":[7],"using":[8],"modified":[9,13,20,94,104],"Newton-Raphson":[10,105],"(MNR)":[11,106],"and":[12,25,68,81,83],"predictor-corrector":[14],"(MPC)":[15,96],"algorithms":[16,21,28],"is":[17,62,77,89,98],"discussed.":[18],"These":[19],"are":[22,41,85],"highly":[23],"reliable":[24],"stable.":[26],"Both":[27],"always":[29],"find":[30],"a":[31,34],"if":[33],"physically":[35],"realizable":[36],"robot":[37,50],"configuration":[38],"exists.":[39],"They":[40],"also":[42,90],"capable":[43],"approaching":[45],"singular":[46,71],"configurations":[47],"as":[51],"E":[52,61],"=":[53],"C":[54,82],"\u03b5":[55],"<sup":[56,74],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[57,75],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">m</sup>":[58],",":[59],"where":[60],"error":[64],"between":[65],"theoretical":[67],"numerically":[69],"computed":[70],"joint":[72],"values,":[73],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\\epsiv</sup>":[76],"convergence":[79],"criteria,":[80],"m":[84],"appropriate":[86],"constants.":[87],"It":[88],"shown":[91],"that":[92],"predictor-corector":[95],"algorithm":[97],"5-15":[99],"times":[100],"faster":[101],"than":[102],"algorithm.":[107]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}