{"id":"https://openalex.org/W2092889271","doi":"https://doi.org/10.1109/smc.2014.6974357","title":"Kinematic properties and control for reconfigurable robotic system","display_name":"Kinematic properties and control for reconfigurable robotic system","publication_year":2014,"publication_date":"2014-10-01","ids":{"openalex":"https://openalex.org/W2092889271","doi":"https://doi.org/10.1109/smc.2014.6974357","mag":"2092889271"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2014.6974357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2014.6974357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5025117157","display_name":"R. Al Saidi","orcid":"https://orcid.org/0000-0002-5127-6109"},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Riyadh Al Saidi","raw_affiliation_strings":["Mechanical, Automotive & Materials Engineering, University of Windsor, Windsor City, ON, Canada","Mechanical, Automotive & Materials Engineering, University of Windsor, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical, Automotive & Materials Engineering, University of Windsor, Windsor City, ON, Canada","institution_ids":["https://openalex.org/I74413500"]},{"raw_affiliation_string":"Mechanical, Automotive & Materials Engineering, University of Windsor, ON, Canada","institution_ids":["https://openalex.org/I74413500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023964846","display_name":"Bruce Minaker","orcid":null},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bruce Minaker","raw_affiliation_strings":["Mechanical, Automotive & Materials Engineering, University of Windsor, Windsor City, ON, Canada","Mechanical, Automotive & Materials Engineering, University of Windsor, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical, Automotive & Materials Engineering, University of Windsor, Windsor City, ON, Canada","institution_ids":["https://openalex.org/I74413500"]},{"raw_affiliation_string":"Mechanical, Automotive & Materials Engineering, University of Windsor, ON, Canada","institution_ids":["https://openalex.org/I74413500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74413500"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2827","last_page":"2832"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.995199978351593,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9901000261306763,"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/kinematics","display_name":"Kinematics","score":0.8953838348388672},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.8423275947570801},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6104194521903992},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5248599052429199},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5072566866874695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4741993546485901},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4500921666622162},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4279700219631195},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42239829897880554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4206365644931793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35165759921073914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21022236347198486},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13917207717895508},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1204061508178711}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8953838348388672},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.8423275947570801},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6104194521903992},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5248599052429199},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5072566866874695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4741993546485901},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4500921666622162},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4279700219631195},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42239829897880554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4206365644931793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35165759921073914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21022236347198486},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13917207717895508},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1204061508178711},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2014.6974357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2014.6974357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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":14,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1491426928","https://openalex.org/W2042500338","https://openalex.org/W2049410986","https://openalex.org/W2050739695","https://openalex.org/W2084880958","https://openalex.org/W2098646051","https://openalex.org/W2254474281","https://openalex.org/W2546825770","https://openalex.org/W3018327908","https://openalex.org/W4392191184","https://openalex.org/W6629040409","https://openalex.org/W6657886343","https://openalex.org/W6692034601"],"related_works":["https://openalex.org/W2139993144","https://openalex.org/W2219869035","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W2295071091","https://openalex.org/W2792156965","https://openalex.org/W3044940660","https://openalex.org/W2030376804","https://openalex.org/W2360435708"],"abstract_inverted_index":{"This":[0,191],"paper":[1],"presents":[2],"the":[3,81,88,111,115],"kinematic":[4,44,58,97,134,175],"aspects":[5],"of":[6,41,55,114],"reconfigurable":[7,31,92,139,159,204],"manipulators":[8],"such":[9,99],"as":[10,38,46,100,121,166,197],"workspace,":[11],"manipulability":[12],"and":[13,20,48,103,110,136,151,164,186],"singularity":[14],"properties.":[15],"These":[16,34],"properties":[17,40],"are":[18,28,118],"calculated":[19],"shown":[21],"in":[22,146,203],"3D":[23],"figures.":[24],"Variable":[25],"control":[26,205],"structures":[27,45,135],"designed":[29],"for":[30,52,200],"robotic":[32,35,105,129,160],"systems.":[33,106,206],"systems":[36,154],"combine":[37],"many":[39],"different":[42,133],"open":[43,96,174],"possible":[47,173],"can":[49,66],"be":[50,67],"used":[51],"a":[53,76,138,167,198],"variety":[54],"applications.":[56],"The":[57,107,126],"design":[59],"parameters,":[60,65],"i.e.,":[61],"their":[62],"Denavit-Hartenberg":[63],"(D-H)":[64],"modified":[68],"to":[69,74,93,141,195],"satisfy":[70],"any":[71,94,143],"configuration":[72],"required":[73,144],"meet":[75],"specific":[77],"task.":[78],"By":[79],"varying":[80],"joint":[82,108,140],"twist":[83],"angle":[84,109],"parameter":[85],"(configuration":[86],"parameter),":[87],"presented":[89],"model":[90],"is":[91,162,193],"desired":[95],"structure,":[98],"ABB,":[101],"Stanford":[102],"SCARA":[104],"offset":[112],"distance":[113],"D-H":[116],"parameters":[117,123],"also":[119],"modeled":[120],"variable":[122],"(reconfigurable":[124],"joint).":[125],"resulting":[127],"self-reconfigurable":[128],"system":[130,161],"hence":[131],"encompasses":[132],"has":[137],"accommodate":[142],"application":[145],"medical":[147],"technology,":[148],"space":[149],"exploration":[150],"future":[152,201],"manufacturing":[153],"among":[155],"others.":[156],"A":[157],"3-DOF":[158],"constructed":[163],"demonstrated":[165],"case":[168],"study":[169],"which":[170],"covers":[171],"all":[172],"structures.":[176],"SMC":[177],"controllers":[178],"were":[179],"developed":[180],"based":[181],"on":[182,187],"estimated,":[183],"bounded":[184],"models":[185],"computed":[188],"torque":[189],"method.":[190],"research":[192],"intended":[194],"serve":[196],"foundation":[199],"studies":[202]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}