{"id":"https://openalex.org/W2153264261","doi":"https://doi.org/10.1109/tra.2003.814496","title":"New dimensionally homogeneous jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators","display_name":"New dimensionally homogeneous jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators","publication_year":2003,"publication_date":"2003-08-01","ids":{"openalex":"https://openalex.org/W2153264261","doi":"https://doi.org/10.1109/tra.2003.814496","mag":"2153264261"},"language":"en","primary_location":{"id":"doi:10.1109/tra.2003.814496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tra.2003.814496","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"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 and Automation","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/A5085477498","display_name":"Sung\u2010Gaun Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Gaun Kim","raw_affiliation_strings":["Department of Mechatronics, Gwangju Institute of Science and Technology, Kwangju, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, Gwangju Institute of Science and Technology, Kwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041271915","display_name":"Jeha Ryu","orcid":"https://orcid.org/0000-0003-4084-5684"},"institutions":[{"id":"https://openalex.org/I39534123","display_name":"Gwangju Institute of Science and Technology","ror":"https://ror.org/024kbgz78","country_code":"KR","type":"education","lineage":["https://openalex.org/I39534123"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeha Ryu","raw_affiliation_strings":["Department of Mechatronics, Gwangju Institute of Science and Technology, Kwangju, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, Gwangju Institute of Science and Technology, Kwangju, South Korea","institution_ids":["https://openalex.org/I39534123"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39534123"],"apc_list":null,"apc_paid":null,"fwci":6.5203,"has_fulltext":false,"cited_by_count":156,"citation_normalized_percentile":{"value":0.96256368,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"19","issue":"4","first_page":"731","last_page":"737"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9865000247955322,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.9799245595932007},{"id":"https://openalex.org/keywords/stewart-platform","display_name":"Stewart platform","score":0.5632275938987732},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.5551851391792297},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4812609851360321},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4711291491985321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46654200553894043},{"id":"https://openalex.org/keywords/condition-number","display_name":"Condition number","score":0.43711450695991516},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4331432282924652},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34809958934783936},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3387877345085144},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.16543376445770264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13579773902893066},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.09984275698661804}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.9799245595932007},{"id":"https://openalex.org/C69769044","wikidata":"https://www.wikidata.org/wiki/Q2041113","display_name":"Stewart platform","level":3,"score":0.5632275938987732},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.5551851391792297},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4812609851360321},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4711291491985321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46654200553894043},{"id":"https://openalex.org/C84545080","wikidata":"https://www.wikidata.org/wiki/Q1147936","display_name":"Condition number","level":3,"score":0.43711450695991516},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4331432282924652},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34809958934783936},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3387877345085144},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.16543376445770264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13579773902893066},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.09984275698661804},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/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/tra.2003.814496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tra.2003.814496","pdf_url":null,"source":{"id":"https://openalex.org/S116420536","display_name":"IEEE Transactions on Robotics and Automation","issn_l":"1042-296X","issn":["1042-296X","2374-958X"],"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 and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W95541358","https://openalex.org/W1556511118","https://openalex.org/W1913033997","https://openalex.org/W1975468089","https://openalex.org/W1980232872","https://openalex.org/W1981371731","https://openalex.org/W2014863553","https://openalex.org/W2042538399","https://openalex.org/W2049410986","https://openalex.org/W2066133103","https://openalex.org/W2070908943","https://openalex.org/W2085545845","https://openalex.org/W2096117953","https://openalex.org/W2138505136","https://openalex.org/W2161608402","https://openalex.org/W2296280963","https://openalex.org/W2482302815","https://openalex.org/W2620344634","https://openalex.org/W3145558417","https://openalex.org/W4251420516"],"related_works":["https://openalex.org/W1981573341","https://openalex.org/W2040448613","https://openalex.org/W2361661017","https://openalex.org/W2364937973","https://openalex.org/W3180482864","https://openalex.org/W2056059987","https://openalex.org/W3145558417","https://openalex.org/W4306743306","https://openalex.org/W2372562015","https://openalex.org/W2572738404"],"abstract_inverted_index":{"Development":[0],"of":[1,24,32,40,68,98,113],"optimal":[2,13,109,142],"design":[3,107,122],"methods":[4],"for":[5,17,74,116],"parallel":[6,75,114,129],"manipulators":[7,76,115],"is":[8,38,103,136],"important":[9],"in":[10,47,58],"obtaining":[11],"an":[12,108],"architecture":[14,110],"or":[15,111],"pose":[16,112],"the":[18,29,33,54,59,91,99,117,133,140,148],"best":[19,118],"kinetostatic":[20],"performance.":[21],"The":[22,95],"use":[23],"performance":[25],"indexes":[26],"such":[27],"as":[28,144],"condition":[30,96],"number":[31,97],"conventional":[34,60],"Jacobian":[35,61,72,101,153],"matrix":[36,73,102],"that":[37,87],"composed":[39],"nonhomogeneous":[41],"physical":[42,48],"units,":[43],"however,":[44],"may":[45],"lack":[46],"significance.":[49],"In":[50],"order":[51],"to":[52,106,138],"avoid":[53],"unit":[55],"inconsistency":[56],"problem":[57],"matrix,":[62],"we":[63],"present":[64],"a":[65,69,78,125],"new":[66,100],"formulation":[67,135,154],"dimensionally":[70,151],"homogeneous":[71],"with":[77,90,124],"planar":[79],"mobile":[80,92],"platform":[81,93,128],"by":[82,131],"using":[83,132,147],"three":[84],"end-effector":[85],"points":[86],"are":[88],"coplanar":[89],"joints.":[94],"then":[104],"used":[105],"dexterity.":[119],"An":[120],"illustrative":[121],"example":[123],"six-degree-of-freedom":[126],"Gough-Stewart":[127],"manipulator":[130],"proposed":[134],"shown":[137],"generate":[139],"same":[141],"configurations":[143],"those":[145],"from":[146],"other":[149],"existing":[150],"homogenous":[152],"methods.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":10},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":12}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
