{"id":"https://openalex.org/W2127546684","doi":"https://doi.org/10.1109/robot.1986.1087582","title":"On certain aspects of the zero reference position method and its applications to an industrial manipulator","display_name":"On certain aspects of the zero reference position method and its applications to an industrial manipulator","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2127546684","doi":"https://doi.org/10.1109/robot.1986.1087582","mag":"2127546684"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1986.1087582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087582","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":"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":["University of Illinois at Chicago, Chicago, Illinois","Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Chicago, Chicago, Illinois","institution_ids":["https://openalex.org/I39422238"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111847914","display_name":"Gordon Carlson","orcid":null},"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":false,"raw_author_name":"G. Carlson","raw_affiliation_strings":["Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL","institution_ids":["https://openalex.org/I39422238"]}]}],"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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2740986,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"728","last_page":"733"},"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":0.9958000183105469,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9873999953269958,"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/position","display_name":"Position (finance)","score":0.7536513805389404},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.6737134456634521},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.6644843816757202},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.6465935707092285},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6234415769577026},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5891532301902771},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5600905418395996},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565853118896484},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5391685366630554},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5158871412277222},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4919690787792206},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.47526782751083374},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4710896909236908},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.37637487053871155},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3375706672668457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33744189143180847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32894590497016907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2577431797981262},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2251695692539215},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17136991024017334},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14474651217460632}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7536513805389404},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.6737134456634521},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.6644843816757202},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.6465935707092285},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6234415769577026},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5891532301902771},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5600905418395996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565853118896484},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5391685366630554},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5158871412277222},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4919690787792206},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.47526782751083374},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4710896909236908},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.37637487053871155},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3375706672668457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33744189143180847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32894590497016907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2577431797981262},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2251695692539215},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17136991024017334},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14474651217460632},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1986.1087582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087582","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1536101558","https://openalex.org/W1558446093","https://openalex.org/W1993687847","https://openalex.org/W2023388320","https://openalex.org/W2087102025","https://openalex.org/W2095530804","https://openalex.org/W2102642497","https://openalex.org/W2132637164","https://openalex.org/W2135116029","https://openalex.org/W4241187624","https://openalex.org/W6674424179"],"related_works":["https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2245353192","https://openalex.org/W2906293295","https://openalex.org/W2573562027","https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W2185220635"],"abstract_inverted_index":{"The":[0],"zero":[1,17],"reference":[2,18],"position":[3],"method":[4,69],"for":[5,54,70,82],"analyzing":[6],"robot":[7,79],"motions":[8],"is":[9,63,80],"based":[10],"upon":[11],"an":[12,67],"arbitrary":[13],"choice":[14],"of":[15,22,30,77],"the":[16,20,26,32,84],"position,":[19],"principle":[21],"displacement":[23],"similarity,":[24],"and":[25,49],"hand-to-the":[27],"base":[28],"sequence":[29],"changing":[31],"joint":[33],"variables":[34],"in":[35,41,59],"a":[36],"serial":[37,55],"manipulator.":[38],"Its":[39],"applications":[40],"performing":[42],"recursive":[43],"computations,":[44],"formulating":[45],"explicit":[46],"governing":[47],"equations,":[48],"obtaining":[50],"closed":[51,85],"form":[52,86],"solutions":[53],"manipulators":[56],"are":[57],"presented":[58],"this":[60],"paper.":[61],"It":[62],"shown":[64],"to":[65],"be":[66],"efficient":[68],"updating":[71],"manipulator":[72],"positions.":[73],"A":[74],"Bendix":[75],"type":[76],"industrial":[78],"used":[81],"illustrating":[83],"solution":[87],"procedure.":[88]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
