{"id":"https://openalex.org/W2091831094","doi":"https://doi.org/10.1109/tro.2012.2206853","title":"Corrections to \u201cSingularity-Free Dynamic Equations of Open-Chain Mechanisms With General Holonomic and Nonholonomic Joints\u201d","display_name":"Corrections to \u201cSingularity-Free Dynamic Equations of Open-Chain Mechanisms With General Holonomic and Nonholonomic Joints\u201d","publication_year":2012,"publication_date":"2012-07-19","ids":{"openalex":"https://openalex.org/W2091831094","doi":"https://doi.org/10.1109/tro.2012.2206853","mag":"2091831094"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2206853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2206853","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5059695621","display_name":"P\u00e5l Johan From","orcid":"https://orcid.org/0000-0003-2604-7555"},"institutions":[{"id":"https://openalex.org/I54108979","display_name":"Norwegian University of Life Sciences","ror":"https://ror.org/04a1mvv97","country_code":"NO","type":"education","lineage":["https://openalex.org/I54108979"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"P\u00e5l Johan From","raw_affiliation_strings":["Department of Mathematical Sciences and Technology, Norwegian University of Life Sciences, Norway","Dept. of Math. Sci. & Technol., Norwegian Univ. of Life Sci., As, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematical Sciences and Technology, Norwegian University of Life Sciences, Norway","institution_ids":["https://openalex.org/I54108979"]},{"raw_affiliation_string":"Dept. of Math. Sci. & Technol., Norwegian Univ. of Life Sci., As, Norway","institution_ids":["https://openalex.org/I54108979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108134326","display_name":"Vincent Duindam","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161447","display_name":"Intuitive Surgical (United States)","ror":"https://ror.org/05g2n4m79","country_code":"US","type":"company","lineage":["https://openalex.org/I4210161447"]},{"id":"https://openalex.org/I88773910","display_name":"Intuit (United States)","ror":"https://ror.org/049mrbr98","country_code":"US","type":"company","lineage":["https://openalex.org/I88773910"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vincent Duindam","raw_affiliation_strings":["Intuitive Surgical, Sunnyvale, CA, USA","Intuitive Surg., Sunnyvale, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intuitive Surgical, Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I4210161447"]},{"raw_affiliation_string":"Intuitive Surg., Sunnyvale, CA, USA","institution_ids":["https://openalex.org/I88773910"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Stefano Stramigioli","raw_affiliation_strings":["Department of Electrical Engineering, Mathematics, and Computer Science, University of Twente, Enschede, AE, Netherlands","Dept. of Electr. Eng. Math. & Comput. Sci., Univ. of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Mathematics, and Computer Science, University of Twente, Enschede, AE, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Dept. of Electr. Eng. Math. & Comput. Sci., Univ. of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2457,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.89510908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"28","issue":"6","first_page":"1431","last_page":"1432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T11615","display_name":"Control and Dynamics of Mobile Robots","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9922999739646912,"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/holonomic","display_name":"Holonomic","score":0.9373196363449097},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.803014874458313},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.6854111552238464},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.673516571521759},{"id":"https://openalex.org/keywords/euclidean-geometry","display_name":"Euclidean geometry","score":0.5083701014518738},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4602756202220917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4575352966785431},{"id":"https://openalex.org/keywords/dynamic-equation","display_name":"Dynamic equation","score":0.4133085608482361},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36782407760620117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34004998207092285},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3357182741165161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29577314853668213},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.28971385955810547},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20365044474601746},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19193145632743835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14008492231369019},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11661586165428162},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07540026307106018},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.059447914361953735}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.9373196363449097},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.803014874458313},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.6854111552238464},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.673516571521759},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.5083701014518738},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4602756202220917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4575352966785431},{"id":"https://openalex.org/C2989370511","wikidata":"https://www.wikidata.org/wiki/Q18381590","display_name":"Dynamic equation","level":3,"score":0.4133085608482361},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36782407760620117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34004998207092285},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3357182741165161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29577314853668213},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.28971385955810547},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20365044474601746},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19193145632743835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14008492231369019},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11661586165428162},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07540026307106018},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.059447914361953735},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2012.2206853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2206853","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/7305d93d-a43f-4826-89de-fcc428706ba3","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/7305d93d-a43f-4826-89de-fcc428706ba3","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Pal, J, Duindam, V & Stramigioli, S 2012, 'Corrections to \u201cSingularity-Free Dynamic Equations of Open-Chain Mechanisms With General Holonomic and Nonholonomic Joints\u203f', IEEE transactions on robotics, vol. 28, no. 6, pp. 1431-1432. https://doi.org/10.1109/TRO.2012.2206853","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1967027955","https://openalex.org/W2064946257","https://openalex.org/W2159589104","https://openalex.org/W2159993320"],"related_works":["https://openalex.org/W2154502479","https://openalex.org/W2127776540","https://openalex.org/W45593259","https://openalex.org/W1973747674","https://openalex.org/W641237144","https://openalex.org/W76235543","https://openalex.org/W4378942199","https://openalex.org/W2370863384","https://openalex.org/W2018918536","https://openalex.org/W2183446508"],"abstract_inverted_index":{"This":[0],"is":[1],"a":[2],"correction":[3],"to":[4],"[Duindam":[5],"and":[6,17],"Stramigioli,":[7],"\u201cSingularity-free":[8],"dynamic":[9,34],"equations":[10,35,55],"of":[11,36,53],"open-chain":[12],"mechanisms":[13],"with":[14,39],"general":[15],"holonomic":[16],"nonholonomic":[18],"joints,\u201d":[19],"IEEE":[20],"Trans.":[21],"Robot.,":[22],"vol.":[23],"24,":[24],"no.":[25],"3,":[26],"pp.":[27],"527-526,":[28],"Jun.":[29],"2008]":[30],"where":[31],"the":[32,49,54,58],"singularity-free":[33],"mechanical":[37],"systems":[38],"Euclidean":[40],"or":[41],"non-Euclidean":[42],"configuration":[43],"spaces":[44],"are":[45],"presented.":[46],"We":[47],"present":[48],"correct":[50],"explicit":[51],"expressions":[52],"presented":[56],"in":[57],"above":[59],"referenced":[60],"paper.":[61]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
