{"id":"https://openalex.org/W2118809396","doi":"https://doi.org/10.1109/robot.1986.1087554","title":"A study of multiple manipulator inverse kinematic solutions with applications to trajectory planning and workspace determination","display_name":"A study of multiple manipulator inverse kinematic solutions with applications to trajectory planning and workspace determination","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2118809396","doi":"https://doi.org/10.1109/robot.1986.1087554","mag":"2118809396"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1986.1087554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 IEEE International Conference on Robotics and Automation","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/A5024132723","display_name":"Pascale Borrel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Borrel","raw_affiliation_strings":["Laboratoire d&#769;Automatique et de Micro&#233;lectronique de Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d&#769;Automatique et de Micro&#233;lectronique de Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007535943","display_name":"A. Li\u00e9geois","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Liegeois","raw_affiliation_strings":["Laboratoire d'Automatique et de Micro\u00e9lectronique de Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Automatique et de Micro\u00e9lectronique de Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1180","last_page":"1185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9986000061035156,"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":0.9890999794006348,"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/workspace","display_name":"Workspace","score":0.9166312217712402},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7380839586257935},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6685736775398254},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5869173407554626},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5776757001876831},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5529006719589233},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5525385141372681},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5395393371582031},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.525583803653717},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5205432176589966},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.47729718685150146},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.46885690093040466},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.46885690093040466},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4517369866371155},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4189996123313904},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4012152850627899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.298240065574646},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2838283181190491},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2776288390159607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23028168082237244},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.1559012234210968},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13836196064949036},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07706230878829956}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9166312217712402},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7380839586257935},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6685736775398254},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5869173407554626},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5776757001876831},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5529006719589233},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5525385141372681},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5395393371582031},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.525583803653717},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5205432176589966},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.47729718685150146},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.46885690093040466},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.46885690093040466},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4517369866371155},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4189996123313904},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4012152850627899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.298240065574646},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2838283181190491},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2776288390159607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23028168082237244},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.1559012234210968},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13836196064949036},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07706230878829956},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1986.1087554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W1983103208","https://openalex.org/W2039299447","https://openalex.org/W2085433355"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W2537091977","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W3048265633","https://openalex.org/W2744818472","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W2172144564"],"abstract_inverted_index":{"The":[0],"paper":[1],"deals":[2],"with":[3],"the":[4,7,11,22,26,47,50,54,72,85,97],"problem":[5],"of":[6,10,21,25,37,49,62,71,78,84,91],"multiple":[8],"solutions":[9],"coordinate":[12],"transformations":[13],"for":[14,34],"an":[15,32,89],"n-link":[16],"robot":[17,51],"manipulator.":[18],"Aspect":[19,38],"decomposition":[20,39,43],"admissible":[23],"domain":[24],"joint":[27],"space":[28],"is":[29,40,101],"introduced":[30],"and":[31,53,94],"algorithm":[33],"automatic":[35,69],"computation":[36],"presented.":[41],"This":[42],"takes":[44],"into":[45],"account":[46],"morphology":[48],"arm":[52],"kinematic":[55],"task":[56],"definition":[57],"as":[58],"well.":[59],"Two":[60],"fields":[61],"applications":[63],"are":[64],"then":[65],"investigated":[66],":":[67],"-":[68,76],"generation":[70],"end":[73],"effector":[74],"workspace,":[75],"predetermination":[77],"trajectories":[79],"which":[80],"avoid":[81],"mechanical":[82],"limits":[83],"manipulator":[86],"actuators.":[87],"Finally":[88],"implementation":[90],"these":[92],"methods":[93],"algorithms":[95],"in":[96],"CATIA":[98],"CAD":[99],"system":[100],"given.":[102]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
