{"id":"https://openalex.org/W2586239168","doi":"https://doi.org/10.1109/smc.2016.7844895","title":"Development and evaluation of a symbolic modelling tool for serial manipulators with any number of degrees of freedom","display_name":"Development and evaluation of a symbolic modelling tool for serial manipulators with any number of degrees of freedom","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2586239168","doi":"https://doi.org/10.1109/smc.2016.7844895","mag":"2586239168"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2016.7844895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2016.7844895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Development_and_evaluation_of_a_symbolic_modelling_tool_for_serial_manipulators_with_any_number_of_degrees_of_freedom/20853292","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088897776","display_name":"Parham M. Kebria","orcid":"https://orcid.org/0000-0001-7049-928X"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Parham M. Kebria","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation, Deakin University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101048758","display_name":"Hamid Abdi","orcid":null},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hamid Abdi","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation, Deakin University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015293969","display_name":"Saeid Nahavandi","orcid":"https://orcid.org/0000-0002-0360-5270"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Saeid Nahavandi","raw_affiliation_strings":["Institute for Intelligent Systems Research and Innovation, Deakin University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Intelligent Systems Research and Innovation, Deakin University, Australia","institution_ids":["https://openalex.org/I149704539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I149704539"],"apc_list":null,"apc_paid":null,"fwci":2.6314,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.90720526,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"004223","last_page":"004228"},"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":0.9983000159263611,"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":0.996999979019165,"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":0.8688814640045166},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.839821994304657},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.7101593613624573},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.6384252309799194},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6328068375587463},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6001293063163757},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5330668091773987},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5202004313468933},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4812448024749756},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44834962487220764},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42496445775032043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3630375862121582},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3203485608100891},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2919435501098633},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27367883920669556},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21752965450286865},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.15921983122825623},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08676770329475403}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8688814640045166},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.839821994304657},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.7101593613624573},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.6384252309799194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6328068375587463},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6001293063163757},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5330668091773987},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5202004313468933},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4812448024749756},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44834962487220764},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42496445775032043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3630375862121582},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3203485608100891},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2919435501098633},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27367883920669556},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21752965450286865},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.15921983122825623},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08676770329475403},{"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/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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/smc.2016.7844895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2016.7844895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:dro.deakin.edu.au:DU:30094123","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401102","display_name":"Own your potential (DEAKIN)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149704539","host_organization_name":"Deakin University","host_organization_lineage":["https://openalex.org/I149704539"],"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 Paper"},{"id":"pmh:oai:figshare.com:article/20853292","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Development_and_evaluation_of_a_symbolic_modelling_tool_for_serial_manipulators_with_any_number_of_degrees_of_freedom/20853292","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/20853292","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Development_and_evaluation_of_a_symbolic_modelling_tool_for_serial_manipulators_with_any_number_of_degrees_of_freedom/20853292","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference contribution"},"sustainable_development_goals":[{"score":0.7799999713897705,"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":34,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W575905749","https://openalex.org/W1256870269","https://openalex.org/W1496777766","https://openalex.org/W1509235676","https://openalex.org/W1528850474","https://openalex.org/W1564897360","https://openalex.org/W1569867348","https://openalex.org/W1988882685","https://openalex.org/W1990777642","https://openalex.org/W1997543377","https://openalex.org/W1999777523","https://openalex.org/W2002515014","https://openalex.org/W2016061395","https://openalex.org/W2042704969","https://openalex.org/W2062691475","https://openalex.org/W2128135221","https://openalex.org/W2136621952","https://openalex.org/W2143734999","https://openalex.org/W2152265553","https://openalex.org/W2323447981","https://openalex.org/W3217028903","https://openalex.org/W4205362845","https://openalex.org/W4210556961","https://openalex.org/W4246923680","https://openalex.org/W4301437120","https://openalex.org/W6627901521","https://openalex.org/W6629617714","https://openalex.org/W6630702416","https://openalex.org/W6633694296","https://openalex.org/W6633969785","https://openalex.org/W6643981991","https://openalex.org/W6665960101","https://openalex.org/W6805179655"],"related_works":["https://openalex.org/W2053241953","https://openalex.org/W947851733","https://openalex.org/W2159499127","https://openalex.org/W2326914789","https://openalex.org/W2247474161","https://openalex.org/W2893880535","https://openalex.org/W109449006","https://openalex.org/W2411340114","https://openalex.org/W2067051482","https://openalex.org/W2053228135"],"abstract_inverted_index":{"Kinematics":[0],"and":[1,14,28,48,58,66,81,101,109,132],"dynamics":[2,82],"modelling":[3,53],"of":[4,17,42,50,61,84,104,111,114,145,148,163],"manipulators":[5,36,63],"are":[6,69],"essential":[7],"for":[8,35,55,96,129,160],"analysis,":[9],"optimisation,":[10],"control":[11,161],"system":[12],"design,":[13],"motion":[15],"planning":[16],"the":[18,56,78,85,93,98,102,105,115,122,143,149,153],"manipulators.":[19,86],"Deriving":[20],"these":[21],"models":[22,150],"is":[23,127,134,155],"a":[24,51,74],"time":[25],"consuming":[26],"task":[27],"it":[29,133],"involves":[30],"tedious":[31],"mathematical":[32],"calculations":[33],"specifically":[34],"with":[37,64],"more":[38],"than":[39],"two":[40],"degrees":[41],"freedom.":[43],"In":[44],"this":[45],"paper,":[46],"development":[47],"evaluation":[49],"symbolic":[52],"tool":[54,72,126,154],"kinematic":[57,99],"dynamic":[59,123],"equations":[60,83],"serial":[62],"revolute":[65],"prismatic":[67],"joints":[68],"presented.":[70],"The":[71,87,125],"allows":[73],"quick":[75],"access":[76,131],"to":[77,91,117,120,136],"full":[79],"kinematics":[80],"user":[88],"only":[89],"requires":[90],"provide":[92],"DH":[94],"parameters":[95,108],"obtaining":[97],"model":[100],"centre":[103],"gravity,":[106],"mass":[107],"momentum":[110],"inertia":[112],"matrices":[113],"links":[116],"be":[118],"able":[119],"obtain":[121],"model.":[124],"shared":[128],"public":[130],"aimed":[135],"benefit":[137],"researchers":[138],"or":[139],"graduate":[140],"students":[141],"in":[142],"area":[144],"robotics.":[146],"Evaluation":[147],"generated":[151],"by":[152],"demonstrated":[156],"through":[157],"its":[158],"accuracy":[159],"design":[162],"PUMA":[164],"560.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}