{"id":"https://openalex.org/W1497364092","doi":"https://doi.org/10.1155/2015/273237","title":"Omnidirectional Analysis of Spatial Manipulator","display_name":"Omnidirectional Analysis of Spatial Manipulator","publication_year":2015,"publication_date":"2015-01-01","ids":{"openalex":"https://openalex.org/W1497364092","doi":"https://doi.org/10.1155/2015/273237","mag":"1497364092"},"language":"en","primary_location":{"id":"doi:10.1155/2015/273237","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2015/273237","pdf_url":"https://downloads.hindawi.com/journals/jr/2015/273237.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2015/273237.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023270824","display_name":"Yuquan Leng","orcid":"https://orcid.org/0000-0003-4063-4545"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuquan Leng","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China","University of Chinese Academy of Science, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"University of Chinese Academy of Science, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100354781","display_name":"Yang Zhang","orcid":"https://orcid.org/0000-0003-2174-9419"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103527972","display_name":"Xu He","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu He","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039849966","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-1027-5548"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China"],"raw_orcid":"https://orcid.org/0000-0002-1027-5548","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070487865","display_name":"Haitao Luo","orcid":"https://orcid.org/0000-0001-8865-6466"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Luo","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China"],"raw_orcid":"https://orcid.org/0000-0001-8865-6466","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004123938","display_name":"Weijia Zhou","orcid":"https://orcid.org/0000-0003-4339-0435"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijia Zhou","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China","institution_ids":["https://openalex.org/I142078773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5023270824"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I4210165038"],"apc_list":{"value":925,"currency":"USD","value_usd":925},"apc_paid":{"value":925,"currency":"USD","value_usd":925},"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.0195265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2015","issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7990483045578003},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7800395488739014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6810635924339294},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5980128049850464},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5835433602333069},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.48514804244041443},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4404889941215515},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4376171827316284},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4163307845592499},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35884422063827515},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28275907039642334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2523581385612488},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2220357358455658},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16421544551849365},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16116079688072205}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7990483045578003},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7800395488739014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6810635924339294},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5980128049850464},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5835433602333069},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.48514804244041443},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4404889941215515},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4376171827316284},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4163307845592499},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35884422063827515},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28275907039642334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2523581385612488},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2220357358455658},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16421544551849365},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16116079688072205},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2015/273237","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2015/273237","pdf_url":"https://downloads.hindawi.com/journals/jr/2015/273237.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:46c0f1030e9343c2a53e9d9692edfd2c","is_oa":true,"landing_page_url":"https://doaj.org/article/46c0f1030e9343c2a53e9d9692edfd2c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2015 (2015)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2015/273237","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2015/273237","pdf_url":"https://downloads.hindawi.com/journals/jr/2015/273237.pdf","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2101381346","display_name":null,"funder_award_id":"2013M541258","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G4926587130","display_name":null,"funder_award_id":"20141152","funder_id":"https://openalex.org/F4320326907","funder_display_name":"State Key Laboratory of Robotics"},{"id":"https://openalex.org/G5718713426","display_name":null,"funder_award_id":"2015-Z08","funder_id":"https://openalex.org/F4320326907","funder_display_name":"State Key Laboratory of Robotics"},{"id":"https://openalex.org/G572245404","display_name":null,"funder_award_id":"20141152","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G71790770","display_name":null,"funder_award_id":"2015-Z08","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7707669527","display_name":null,"funder_award_id":"2013M541258","funder_id":"https://openalex.org/F4320326907","funder_display_name":"State Key Laboratory of Robotics"}],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1497364092.pdf","grobid_xml":"https://content.openalex.org/works/W1497364092.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W134283258","https://openalex.org/W1556511118","https://openalex.org/W1972912919","https://openalex.org/W1983103208","https://openalex.org/W2010294231","https://openalex.org/W2011819342","https://openalex.org/W2013007398","https://openalex.org/W2034358309","https://openalex.org/W2042538399","https://openalex.org/W2049410986","https://openalex.org/W2053482006","https://openalex.org/W2068778432","https://openalex.org/W2070917084","https://openalex.org/W2085402851","https://openalex.org/W2085545845","https://openalex.org/W2087680148","https://openalex.org/W2096994759","https://openalex.org/W2164998960","https://openalex.org/W2165965189","https://openalex.org/W2314546678","https://openalex.org/W4251420516"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4211095314","https://openalex.org/W1991249326","https://openalex.org/W4214562868","https://openalex.org/W1975173418","https://openalex.org/W2366008286","https://openalex.org/W2970295229","https://openalex.org/W2065854286","https://openalex.org/W4297976568","https://openalex.org/W2962851451"],"abstract_inverted_index":{"Space":[0],"manipulators":[1],"are":[2,175],"mainly":[3],"used":[4],"in":[5,66,73,91],"the":[6,14,18,24,31,38,47,60,67,71,76,92,97,109,127,151,155,162],"spatial":[7,15],"loading":[8,16,20],"task.":[9],"According":[10],"to":[11,36,56],"problems":[12],"of":[13,27,42,59,70,88,114],"diversity,":[17],"testing":[19],"installing":[21],"position,":[22],"and":[23,40,80,86,102,108,122,144,148,161,171],"utilization":[25],"ratio":[26],"a":[28],"test":[29],"platform,":[30],"space":[32,69,116],"manipulator":[33,140],"is":[34,136,159],"asked":[35],"evaluate":[37],"position":[39,78,85],"attitude":[41,54,58,87,106,124],"itself.":[43],"This":[44],"paper":[45],"proposes":[46],"Point":[48],"Omnidirectional":[49,120,129,173],"Coefficient":[50,130,174],"(POC)":[51],"with":[52,75],"unit":[53],"sphere/circle":[55],"describe":[57],"end-effector,":[61],"which":[62],"evaluates":[63],"any":[64],"points":[65,90,115],"attainable":[68,93,118,169],"manipulators,":[72,150],"combination":[74],"manipulation\u2019s":[77],"message,":[79],"get":[81],"relationships":[82,163],"between":[83,99],"its":[84],"all":[89],"space.":[94,125],"It":[95],"represents":[96],"mapping":[98],"sphere":[100],"surface":[101],"plane":[103],"for":[104,111,138,177],"mission":[105,123,133],"constraints":[107],"method":[110],"calculating":[112],"volume":[113],"including":[117],"space,":[119,121,170],"Furthermore,":[126],"Manipulator":[128,172],"based":[131],"on":[132],"or":[134],"not":[135],"proposed":[137],"evaluating":[139],"performance.":[141],"Through":[142],"analysis":[143],"simulation":[145],"about":[146,164],"3D":[147],"2D":[149],"results":[152],"show":[153],"that":[154],"above":[156],"theoretical":[157],"approach":[158],"feasible":[160],"link":[165],"lengths,":[166],"joints":[167],"angles,":[168],"drawn":[176],"guiding":[178],"design.":[179]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
