{"id":"https://openalex.org/W3180853650","doi":"https://doi.org/10.1155/2021/4448648","title":"Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm","display_name":"Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm","publication_year":2021,"publication_date":"2021-07-07","ids":{"openalex":"https://openalex.org/W3180853650","doi":"https://doi.org/10.1155/2021/4448648","mag":"3180853650"},"language":"en","primary_location":{"id":"doi:10.1155/2021/4448648","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/4448648","pdf_url":"https://downloads.hindawi.com/journals/misy/2021/4448648.pdf","source":{"id":"https://openalex.org/S152111507","display_name":"Mobile Information Systems","issn_l":"1574-017X","issn":["1574-017X","1875-905X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mobile Information Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/journals/misy/2021/4448648.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101943689","display_name":"Jie Cai","orcid":"https://orcid.org/0000-0001-9863-0489"},"institutions":[{"id":"https://openalex.org/I4210147759","display_name":"Zhejiang Institute of Mechanical and Electrical Engineering","ror":"https://ror.org/055gyn525","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210147759"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Cai","raw_affiliation_strings":["School of Intelligent Manufacturing, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0001-9863-0489","affiliations":[{"raw_affiliation_string":"School of Intelligent Manufacturing, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China","institution_ids":["https://openalex.org/I4210147759"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101898780","display_name":"Jinlian Deng","orcid":"https://orcid.org/0000-0002-0922-4014"},"institutions":[{"id":"https://openalex.org/I4210147759","display_name":"Zhejiang Institute of Mechanical and Electrical Engineering","ror":"https://ror.org/055gyn525","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210147759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinlian Deng","raw_affiliation_strings":["School of Creative Arts and Design, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China"],"raw_orcid":"https://orcid.org/0000-0002-0922-4014","affiliations":[{"raw_affiliation_string":"School of Creative Arts and Design, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China","institution_ids":["https://openalex.org/I4210147759"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100338846","display_name":"Wei Zhang","orcid":"https://orcid.org/0009-0006-9135-1835"},"institutions":[{"id":"https://openalex.org/I4210147759","display_name":"Zhejiang Institute of Mechanical and Electrical Engineering","ror":"https://ror.org/055gyn525","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210147759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["School of Intelligent Manufacturing, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Manufacturing, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China","institution_ids":["https://openalex.org/I4210147759"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066473925","display_name":"Weisheng Zhao","orcid":"https://orcid.org/0000-0001-8088-0404"},"institutions":[{"id":"https://openalex.org/I4210147759","display_name":"Zhejiang Institute of Mechanical and Electrical Engineering","ror":"https://ror.org/055gyn525","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210147759"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weisheng Zhao","raw_affiliation_strings":["School of Automation, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou 310053, Zhejiang, China","institution_ids":["https://openalex.org/I4210147759"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101943689"],"corresponding_institution_ids":["https://openalex.org/I4210147759"],"apc_list":{"value":2100,"currency":"USD","value_usd":2100},"apc_paid":{"value":2100,"currency":"USD","value_usd":2100},"fwci":2.7755,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.90365805,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2021","issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9718999862670898,"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":0.9718999862670898,"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":0.9599000215530396,"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"}},{"id":"https://openalex.org/T12549","display_name":"Image and Object Detection Techniques","score":0.916700005531311,"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/computer-science","display_name":"Computer science","score":0.704704761505127},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6139207482337952},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6031785607337952},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5901332497596741},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.577055037021637},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5272119045257568},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5082520842552185},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5003392696380615},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4745110869407654},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4436550438404083},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4399586021900177},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4291674494743347},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.40283137559890747},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37307852506637573},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3710956871509552},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15497541427612305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11002454161643982}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.704704761505127},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6139207482337952},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6031785607337952},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5901332497596741},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.577055037021637},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5272119045257568},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5082520842552185},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5003392696380615},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4745110869407654},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4436550438404083},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4399586021900177},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4291674494743347},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.40283137559890747},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37307852506637573},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3710956871509552},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15497541427612305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11002454161643982},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2021/4448648","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/4448648","pdf_url":"https://downloads.hindawi.com/journals/misy/2021/4448648.pdf","source":{"id":"https://openalex.org/S152111507","display_name":"Mobile Information Systems","issn_l":"1574-017X","issn":["1574-017X","1875-905X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mobile Information Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:649c2c6089e84e64ad9ce2a30f11c6e4","is_oa":true,"landing_page_url":"https://doaj.org/article/649c2c6089e84e64ad9ce2a30f11c6e4","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":"Mobile Information Systems, Vol 2021 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2021/4448648","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/4448648","pdf_url":"https://downloads.hindawi.com/journals/misy/2021/4448648.pdf","source":{"id":"https://openalex.org/S152111507","display_name":"Mobile Information Systems","issn_l":"1574-017X","issn":["1574-017X","1875-905X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mobile Information Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3180853650.pdf","grobid_xml":"https://content.openalex.org/works/W3180853650.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1998754913","https://openalex.org/W2122621462","https://openalex.org/W2134754119","https://openalex.org/W2290545100","https://openalex.org/W2296773535","https://openalex.org/W2301364316","https://openalex.org/W2303795024","https://openalex.org/W2320356563","https://openalex.org/W2325289048","https://openalex.org/W2345630035","https://openalex.org/W2378830913","https://openalex.org/W2392894879","https://openalex.org/W2397107899","https://openalex.org/W2444581964","https://openalex.org/W2463867448","https://openalex.org/W2473118746","https://openalex.org/W2493020986","https://openalex.org/W2496816212","https://openalex.org/W2522728323","https://openalex.org/W2555948419","https://openalex.org/W2734368255","https://openalex.org/W2742674498","https://openalex.org/W2745908201","https://openalex.org/W2746200739","https://openalex.org/W2757754474","https://openalex.org/W2773076209","https://openalex.org/W2789936899","https://openalex.org/W2792875002","https://openalex.org/W2802520102","https://openalex.org/W3102702538","https://openalex.org/W3128668570","https://openalex.org/W3140476064","https://openalex.org/W3155313015","https://openalex.org/W3199052470"],"related_works":["https://openalex.org/W3129004068","https://openalex.org/W4388893656","https://openalex.org/W2108575589","https://openalex.org/W1505290414","https://openalex.org/W2605331264","https://openalex.org/W2922421621","https://openalex.org/W2614204298","https://openalex.org/W4226198400","https://openalex.org/W2304947037","https://openalex.org/W3179890939"],"abstract_inverted_index":{"With":[0],"the":[1,27,50,54,63,71,74,79,83,99,102,105,112,115,122,125,150,155,162,167,170,174,184,189,193,197,200,205,211,215,219,222,227,238,242,246,249],"continuous":[2],"development":[3,84],"of":[4,29,47,85,95,101,107,118,128,154,161,192,196,207,214,218,229,241,245],"science":[5],"and":[6,19,37,92,148,169,173,210],"technology,":[7],"robotics":[8],"is":[9,77,121,203,225,233],"widely":[10],"used":[11],"in":[12,61,82,104,204,226],"various":[13],"fields.":[14],"In":[15],"recent":[16],"years,":[17],"more":[18,20,234],"research":[21,72,103,116,123],"studies":[22],"have":[23],"been":[24,43],"done":[25],"on":[26,73,111,124,133],"control":[28,89],"autonomous":[30,129],"robotic":[31,96,108,130,146,156],"manipulators.":[32],"How":[33],"to":[34,142,236],"quickly,":[35],"accurately,":[36],"smoothly":[38],"grasp":[39],"objects":[40],"has":[41],"always":[42],"a":[44,67,144],"difficult":[45],"point":[46],"research.":[48],"As":[49],"robot\u2019s":[51],"executive":[52],"mechanism,":[53],"robot":[55,64,75,86],"arm":[56,76,147],"plays":[57],"an":[58],"important":[59],"role":[60],"whether":[62],"can":[65],"complete":[66],"specific":[68],"task.":[69],"Therefore,":[70],"also":[78],"main":[80],"topic":[81],"technology.":[87],"The":[88,158],"theory,":[90],"kinematics,":[91],"human-computer":[93],"interaction":[94],"arms":[97],"are":[98],"focus":[100],"field":[106],"arms.":[109],"Based":[110],"above":[113],"background,":[114],"content":[117],"this":[119],"paper":[120,137],"modeling":[126,140],"method":[127,141,168,202,224,244],"manipulator":[131,163,247],"based":[132],"D-H":[134,139],"algorithm.":[135],"This":[136],"uses":[138],"model":[143],"four-degree-of-freedom":[145],"gives":[149],"forward":[151],"kinematics":[152],"equation":[153],"arm.":[157],"inverse":[159,190,212,239],"solution":[160,191,213,240],"was":[164],"given":[165],"by":[166,199,221],"geometric":[171,201],"method,":[172],"joint":[175],"variable":[176],"values":[177],"were":[178],"calculated.":[179],"Finally,":[180],"through":[181],"experimental":[182,185],"simulation,":[183],"results":[186],"show":[187],"that":[188],"end":[194,216],"position":[195,217],"machine":[198,220],"range":[206,228],"2\u223c4":[208],"mm,":[209],"algebraic":[223,250],"6\u223c14":[230],"mm.":[231],"It":[232],"accurate":[235],"find":[237],"geometrical":[243],"than":[248],"method.":[251]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}