{"id":"https://openalex.org/W4285190441","doi":"https://doi.org/10.1109/tro.2022.3162954","title":"Fast and Robust Inverse Kinematics of Serial Robots Using Halley\u2019s Method","display_name":"Fast and Robust Inverse Kinematics of Serial Robots Using Halley\u2019s Method","publication_year":2022,"publication_date":"2022-06-02","ids":{"openalex":"https://openalex.org/W4285190441","doi":"https://doi.org/10.1109/tro.2022.3162954"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3162954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3162954","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/A5025261377","display_name":"Steffan Lloyd","orcid":"https://orcid.org/0000-0002-9305-1952"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Steffan Lloyd","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9305-1952","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013954253","display_name":"Rishad A. Irani","orcid":"https://orcid.org/0000-0003-2854-001X"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Rishad A. Irani","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2854-001X","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003661568","display_name":"Mojtaba Ahmadi","orcid":"https://orcid.org/0000-0002-5679-7640"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mojtaba Ahmadi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5679-7640","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON, Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":null,"apc_paid":null,"fwci":3.638,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.93741674,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"38","issue":"5","first_page":"2768","last_page":"2780"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":0.9994999766349792,"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":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7668666839599609},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6864275336265564},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.669677734375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4898364245891571},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48941078782081604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45812827348709106},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4259698987007141},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3445151448249817},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3273603916168213},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.269265741109848},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2571158707141876},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14301764965057373},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07170501351356506},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07040092349052429}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7668666839599609},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6864275336265564},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.669677734375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4898364245891571},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48941078782081604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45812827348709106},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4259698987007141},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3445151448249817},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3273603916168213},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.269265741109848},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2571158707141876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14301764965057373},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07170501351356506},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07040092349052429},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3162954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3162954","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2501724191","display_name":"Future Marine Launch and Recovery Systems","funder_award_id":"rgpin-2017-06967","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G5194534502","display_name":null,"funder_award_id":"RGPIN-2015-04169","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G6898626747","display_name":null,"funder_award_id":"CRDPJ 514258-17","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1564897360","https://openalex.org/W1568760617","https://openalex.org/W1944897634","https://openalex.org/W1945123189","https://openalex.org/W1976523141","https://openalex.org/W1976555393","https://openalex.org/W1982893660","https://openalex.org/W1988194377","https://openalex.org/W2003086485","https://openalex.org/W2015003349","https://openalex.org/W2016514184","https://openalex.org/W2024991751","https://openalex.org/W2037841262","https://openalex.org/W2039367169","https://openalex.org/W2045918489","https://openalex.org/W2049617391","https://openalex.org/W2058544403","https://openalex.org/W2067484689","https://openalex.org/W2100790457","https://openalex.org/W2121431541","https://openalex.org/W2131055134","https://openalex.org/W2133278465","https://openalex.org/W2138233825","https://openalex.org/W2146097584","https://openalex.org/W2148033465","https://openalex.org/W2156441448","https://openalex.org/W2197441865","https://openalex.org/W2205340216","https://openalex.org/W2485779782","https://openalex.org/W2749341219","https://openalex.org/W2783470107","https://openalex.org/W2810307462","https://openalex.org/W2962851396","https://openalex.org/W4239016570","https://openalex.org/W4250578807","https://openalex.org/W4253198034","https://openalex.org/W4299512035"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,31],"novel":[4],"numerical":[5],"inverse":[6,34,153],"kinematics":[7,35],"algorithm":[8,66],"called":[9],"theQuick":[10],"Inverse":[11],"KinematicsorQuIKmethod.":[12],"The":[13,59,92,115,136],"QuIK":[14,65,82,93,117,137],"method":[15,83,109],"is":[16,84],"athird-orderalgorithm":[17],"that":[18],"uses":[19],"both":[20],"the":[21,64,81,107,149],"first-":[22],"and":[23,44,56,71,103,110,128,130,143,156],"second-order":[24,60],"derivative":[25,61],"information":[26],"to":[27,30,67,80,87,148],"iteratively":[28],"converge":[29,68],"solution.":[32],"Numerical":[33],"methods":[36,94,118,151],"are":[37,54,95,139,159],"readily":[38],"implemented":[39],"on":[40,48],"any":[41],"serial":[42],"robot":[43],"do":[45],"not":[46],"rely":[47],"joint":[49],"alignment.":[50],"However,":[51],"they":[52],"typically":[53],"slower":[55],"less":[57],"robust.":[58],"term":[62],"allows":[63],"more":[69,72,144],"rapidly":[70],"robustly":[73],"than":[74],"existing":[75],"algorithms.":[76,114],"A":[77],"damped":[78],"extension":[79],"also":[85],"proposed":[86,116,140],"increase":[88],"reliability":[89],"near":[90,134],"singularities.":[91,135],"tested":[96,122],"in":[97,124,152],"terms":[98,125],"of":[99,126],"evaluation":[100],"speed,":[101],"reliability,":[102],"singularity":[104],"robustness":[105],"against":[106],"Newton\u2013Raphson":[108,150],"several":[111],"other":[112,121],"modern":[113],"outperform":[119],"all":[120],"algorithms":[123,138],"speed":[127],"robustness,":[129],"have":[131],"strong":[132],"performance":[133],"as":[141],"faster":[142],"robust":[145],"\u201cdrop-in\u201d":[146],"replacements":[147],"kinematics.":[154],"C++":[155],"MATLAB":[157],"codebases":[158],"made":[160],"available.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}