{"id":"https://openalex.org/W2129440705","doi":"https://doi.org/10.1109/robot.1987.1087857","title":"Graph-theoretic models for simulating robot manipulators","display_name":"Graph-theoretic models for simulating robot manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2129440705","doi":"https://doi.org/10.1109/robot.1987.1087857","mag":"2129440705"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087857","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","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/A5017816005","display_name":"J.C.K. Chou","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J. Chou","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002562865","display_name":"George Baciu","orcid":"https://orcid.org/0000-0002-1766-6357"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"G. Baciu","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090336956","display_name":"H. K. Kesavan","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"H. Kesavan","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, ONT, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":0.6191,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.66814846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"953","last_page":"959"},"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":0.9980000257492065,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9873999953269958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.8826110363006592},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7079892158508301},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5868597626686096},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.56749427318573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5287696123123169},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.49825167655944824},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.48269224166870117},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.47918593883514404},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.46971553564071655},{"id":"https://openalex.org/keywords/algebraic-graph-theory","display_name":"Algebraic graph theory","score":0.4572252333164215},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43298402428627014},{"id":"https://openalex.org/keywords/differential-equation","display_name":"Differential equation","score":0.4236745834350586},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32924893498420715},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3120439946651459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25547099113464355},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2369394600391388},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.10703644156455994},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09751555323600769}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.8826110363006592},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7079892158508301},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5868597626686096},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.56749427318573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5287696123123169},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.49825167655944824},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.48269224166870117},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.47918593883514404},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.46971553564071655},{"id":"https://openalex.org/C25799778","wikidata":"https://www.wikidata.org/wiki/Q4724003","display_name":"Algebraic graph theory","level":3,"score":0.4572252333164215},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43298402428627014},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.4236745834350586},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32924893498420715},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3120439946651459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25547099113464355},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2369394600391388},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.10703644156455994},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09751555323600769},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087857","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W116630319","https://openalex.org/W207083949","https://openalex.org/W1496369266","https://openalex.org/W1499641851","https://openalex.org/W1507328342","https://openalex.org/W1548440991","https://openalex.org/W1966552874","https://openalex.org/W1968056475","https://openalex.org/W1968734170","https://openalex.org/W1973862175","https://openalex.org/W1976555393","https://openalex.org/W1990717797","https://openalex.org/W2000374946","https://openalex.org/W2005319438","https://openalex.org/W2012523050","https://openalex.org/W2013068676","https://openalex.org/W2031297577","https://openalex.org/W2035368390","https://openalex.org/W2085386789","https://openalex.org/W2085858255","https://openalex.org/W2087102025","https://openalex.org/W2102642497","https://openalex.org/W2117691194","https://openalex.org/W2121401657","https://openalex.org/W2134357662","https://openalex.org/W2148074472","https://openalex.org/W2246023205","https://openalex.org/W2319762606","https://openalex.org/W2491987118","https://openalex.org/W2595557085","https://openalex.org/W2977186604","https://openalex.org/W4241187624","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2067051482","https://openalex.org/W2138030819","https://openalex.org/W2936063401","https://openalex.org/W4239642722","https://openalex.org/W222725145","https://openalex.org/W2096273330","https://openalex.org/W2082131757","https://openalex.org/W3117195059","https://openalex.org/W1973719576","https://openalex.org/W3007170703"],"abstract_inverted_index":{"The":[0,17,32],"graph-theoretic":[1,29],"models":[2],"of":[3,20,28,43],"a":[4,7,41],"prismatic":[5],"joint,":[6,9],"revolute":[8],"and":[10,45],"an":[11],"open":[12],"kinematic":[13],"chain":[14],"are":[15],"presented.":[16],"Denavit-Hartenberg":[18],"representation":[19],"linkages":[21],"is":[22,40],"encompassed":[23],"within":[24],"the":[25],"general":[26],"framework":[27],"system":[30,42],"theory.":[31],"final":[33],"mathematical":[34],"model":[35],"derived":[36],"by":[37],"this":[38],"formalism":[39],"differential":[44],"algebraic":[46],"equations.":[47]},"counts_by_year":[{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
