{"id":"https://openalex.org/W2104275338","doi":"https://doi.org/10.1109/robot.2008.4543501","title":"Inverse Kinematics without matrix inversion","display_name":"Inverse Kinematics without matrix inversion","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2104275338","doi":"https://doi.org/10.1109/robot.2008.4543501","mag":"2104275338"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5073821432","display_name":"Alexandre Pechev","orcid":null},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alexandre N. Pechev","raw_affiliation_strings":["Surrey Space Centre, University of Surrey, Guildford, UK","Surrey Space Centre, Univ. of Surrey, Guildford"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Surrey Space Centre, University of Surrey, Guildford, UK","institution_ids":["https://openalex.org/I28290843"]},{"raw_affiliation_string":"Surrey Space Centre, Univ. of Surrey, Guildford","institution_ids":["https://openalex.org/I28290843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5073821432"],"corresponding_institution_ids":["https://openalex.org/I28290843"],"apc_list":null,"apc_paid":null,"fwci":4.935,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.94820114,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2005","last_page":"2012"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9980999827384949,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9943000078201294,"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":0.7057307362556458},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6952317357063293},{"id":"https://openalex.org/keywords/singular-value-decomposition","display_name":"Singular value decomposition","score":0.6933083534240723},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.5979369282722473},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5194730162620544},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5188990235328674},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5038008093833923},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4884590208530426},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.4602604806423187},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4504087269306183},{"id":"https://openalex.org/keywords/matrix-decomposition","display_name":"Matrix decomposition","score":0.4382885694503784},{"id":"https://openalex.org/keywords/polar-decomposition","display_name":"Polar decomposition","score":0.4301639795303345},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.41932886838912964},{"id":"https://openalex.org/keywords/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.4175407290458679},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.4127342700958252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4028109610080719},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3121955394744873},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.30412667989730835},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.27903756499290466},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.2536242604255676},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14737796783447266},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13683122396469116},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12969699501991272},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.10660251975059509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10020342469215393},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09878373146057129}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7057307362556458},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6952317357063293},{"id":"https://openalex.org/C22789450","wikidata":"https://www.wikidata.org/wiki/Q420904","display_name":"Singular value decomposition","level":2,"score":0.6933083534240723},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.5979369282722473},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5194730162620544},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5188990235328674},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5038008093833923},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4884590208530426},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4602604806423187},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4504087269306183},{"id":"https://openalex.org/C42355184","wikidata":"https://www.wikidata.org/wiki/Q1361088","display_name":"Matrix decomposition","level":3,"score":0.4382885694503784},{"id":"https://openalex.org/C130956294","wikidata":"https://www.wikidata.org/wiki/Q2101158","display_name":"Polar decomposition","level":3,"score":0.4301639795303345},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.41932886838912964},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.4175407290458679},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.4127342700958252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4028109610080719},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3121955394744873},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30412667989730835},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.27903756499290466},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.2536242604255676},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14737796783447266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13683122396469116},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12969699501991272},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.10660251975059509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10020342469215393},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09878373146057129},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"id":"https://openalex.org/C29705727","wikidata":"https://www.wikidata.org/wiki/Q294562","display_name":"Polar","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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2008.4543501","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543501","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:alma.44SUR_INST:11139358900002346","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:epubs.surrey.ac.uk:2004","is_oa":false,"landing_page_url":"http://epubs.surrey.ac.uk/2004/1/fulltext.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400680","display_name":"Surrey Research Insight Open Access (The University of Surrey)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28290843","host_organization_name":"University of Surrey","host_organization_lineage":["https://openalex.org/I28290843"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W321738389","https://openalex.org/W1558446093","https://openalex.org/W1976523141","https://openalex.org/W2015003349","https://openalex.org/W2042106612","https://openalex.org/W2058544403","https://openalex.org/W2079238157","https://openalex.org/W2091609114","https://openalex.org/W2108726495","https://openalex.org/W2121364325","https://openalex.org/W2146097584","https://openalex.org/W2150772714","https://openalex.org/W2156441448","https://openalex.org/W3216747129","https://openalex.org/W6611158191"],"related_works":["https://openalex.org/W2969153248","https://openalex.org/W2351331567","https://openalex.org/W2119405656","https://openalex.org/W2383683574","https://openalex.org/W2213440246","https://openalex.org/W2004208581","https://openalex.org/W2607470227","https://openalex.org/W2811382984","https://openalex.org/W1907244590","https://openalex.org/W4386631294"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,32,37,48,61,64],"new":[4,40,90],"singularity":[5],"robust":[6],"and":[7,35,50,96,100],"computationally":[8],"efficient":[9],"method":[10],"for":[11],"solving":[12],"the":[13,21,39,68,74,79,83],"inverse":[14,42],"kinematics":[15,43],"(IK)":[16],"problem.":[17],"In":[18],"this":[19,102],"method,":[20],"transformation":[22],"from":[23],"Cartesian":[24],"space":[25,28],"to":[26,78],"joint":[27],"is":[29,71,76,92],"performed":[30],"in":[31,101],"feedback":[33,41],"loop":[34],"as":[36,47],"result":[38],"(FIK)":[44],"law":[45],"operates":[46],"filter":[49],"does":[51],"not":[52],"require":[53],"matrix":[54],"manipulations":[55],"(inversion,":[56],"singular":[57],"value":[58],"decomposition":[59],"or":[60],"computation":[62],"of":[63,94],"damping":[65],"factor).":[66],"While":[67],"computational":[69],"demand":[70],"greatly":[72],"reduced,":[73],"performance":[75],"comparable":[77],"one":[80],"delivered":[81],"by":[82],"damped":[84],"least":[85],"squares":[86],"(DLS)":[87],"law.":[88],"The":[89],"algorithm":[91],"capable":[93],"escaping":[95],"avoiding":[97],"kinematic":[98],"singularities":[99],"respect":[103],"it":[104],"outperforms":[105],"pseudo-inverse":[106],"based":[107],"formulations.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
