{"id":"https://openalex.org/W2221465599","doi":"https://doi.org/10.1145/2783449.2783497","title":"Robot manipulation through inverse kinematics","display_name":"Robot manipulation through inverse kinematics","publication_year":2015,"publication_date":"2015-07-02","ids":{"openalex":"https://openalex.org/W2221465599","doi":"https://doi.org/10.1145/2783449.2783497","mag":"2221465599"},"language":"en","primary_location":{"id":"doi:10.1145/2783449.2783497","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2783449.2783497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 Conference on Advances In Robotics","raw_type":"proceedings-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/A5086990384","display_name":"Abdullah Aamir Hayat","orcid":"https://orcid.org/0000-0001-6141-4600"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Abdullah Aamir Hayat","raw_affiliation_strings":["Indian Institute of Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067830144","display_name":"Ratan Sadanand","orcid":null},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ratan O. M. Sadanand","raw_affiliation_strings":["Indian Institute of Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037739037","display_name":"Subir Kumar Saha","orcid":"https://orcid.org/0000-0002-3681-8061"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Subir. K. Saha","raw_affiliation_strings":["Indian Institute of Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68891433"],"apc_list":null,"apc_paid":null,"fwci":0.3408,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.66524328,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9962000250816345,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9961000084877014,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.9139750003814697},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6895592212677002},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.685807466506958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6507876515388489},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.628920316696167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6253076195716858},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.49422982335090637},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47942107915878296},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.44060370326042175},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.43367108702659607},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4297710359096527},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40499019622802734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39367249608039856},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2439766824245453},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2078535556793213},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06594067811965942}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.9139750003814697},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6895592212677002},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.685807466506958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6507876515388489},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.628920316696167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6253076195716858},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.49422982335090637},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47942107915878296},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.44060370326042175},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.43367108702659607},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4297710359096527},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40499019622802734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39367249608039856},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2439766824245453},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2078535556793213},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06594067811965942},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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":1,"locations":[{"id":"doi:10.1145/2783449.2783497","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2783449.2783497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2015 Conference on Advances In Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1526117436","https://openalex.org/W1558446093","https://openalex.org/W1560270123","https://openalex.org/W2023720286","https://openalex.org/W2027878288","https://openalex.org/W2049410986","https://openalex.org/W2058544403","https://openalex.org/W2083376752","https://openalex.org/W2101227360","https://openalex.org/W2104309330","https://openalex.org/W2111306299","https://openalex.org/W2147598904","https://openalex.org/W2159806973","https://openalex.org/W2188843613","https://openalex.org/W3140331270","https://openalex.org/W4300291907"],"related_works":["https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W1969999327","https://openalex.org/W3030642493","https://openalex.org/W3126987580","https://openalex.org/W4283266117","https://openalex.org/W1971821535","https://openalex.org/W2304947037","https://openalex.org/W339676884","https://openalex.org/W2385860114"],"abstract_inverted_index":{"Inverse":[0],"kinematics":[1,51],"of":[2,18,33,44,90,104,111],"a":[3,64],"robot":[4,20,30,57,69],"is":[5,25,100,119],"very":[6],"essential":[7],"to":[8,75],"find":[9],"the":[10,15,19,29,34,77,87,94],"joint":[11,91],"variables":[12],"that":[13],"satisfy":[14],"desired":[16],"pose":[17],"during":[21],"its":[22],"manipulation.":[23],"This":[24],"used":[26,47,74],"in":[27],"controlling":[28],"position,":[31],"animation":[32],"robot,":[35],"etc.":[36],"In":[37],"this":[38,62],"paper,":[39],"step-by-step":[40],"explanation":[41],"and":[42,52,107,116,125],"comparison":[43,110],"two":[45],"widely":[46],"methods,":[48,55],"namely,":[49],"inverse":[50,54,96],"Jacobian":[53],"for":[56,85,114],"manipulation":[58],"are":[59,128],"presented.":[60,120],"For":[61],"purpose":[63],"six":[65],"degrees-of-freedom":[66],"wrist-partitioned":[67],"industrial":[68],"KUKA":[70],"KR5":[71],"Arc":[72],"was":[73],"illustrate":[76],"methods.":[78],"A":[79],"novel":[80],"approach":[81],"has":[82],"been":[83],"proposed":[84],"selecting":[86],"appropriate":[88],"set":[89],"angles":[92],"among":[93],"several":[95],"kinematic":[97],"solutions.":[98],"It":[99],"based":[101],"on":[102],"weight":[103],"each":[105],"link":[106],"manipulability.":[108],"The":[109],"these":[112],"approaches":[113],"linear":[115],"circular":[117],"trajectory":[118],"Their":[121],"advantages,":[122],"limitations,":[123],"applications,":[124],"computations":[126],"involved":[127],"also":[129],"highlighted.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}