{"id":"https://openalex.org/W2023674908","doi":"https://doi.org/10.1163/156855386x00292","title":"Numerical solution of robot arm inverse kinematics and dynamics","display_name":"Numerical solution of robot arm inverse kinematics and dynamics","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2023674908","doi":"https://doi.org/10.1163/156855386x00292","mag":"2023674908"},"language":"en","primary_location":{"id":"doi:10.1163/156855386x00292","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855386x00292","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5103081606","display_name":"Takahiro Masuda","orcid":"https://orcid.org/0000-0003-1438-8117"},"institutions":[{"id":"https://openalex.org/I39854257","display_name":"Mitsubishi Electric (Germany)","ror":"https://ror.org/04ccqwj03","country_code":"DE","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I39854257","https://openalex.org/I4210133125"]},{"id":"https://openalex.org/I4210133125","display_name":"Mitsubishi Electric (Japan)","ror":"https://ror.org/033y26782","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125"]}],"countries":["DE","JP"],"is_corresponding":false,"raw_author_name":"Takahiro Masuda","raw_affiliation_strings":["Central Research Laboratory, Mitsubishi Electric Corporation, 1-1 Tsukaguchi-honmachi 8-chome, Amagasaki, Hyogo, 661 Japan","Central Research Laboratory, Mitsubishi Electric Corporation, 1-1, Tsukaguchi-Honmachi 8-Chome, Amagasaki, Hyogo, 661 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Central Research Laboratory, Mitsubishi Electric Corporation, 1-1 Tsukaguchi-honmachi 8-chome, Amagasaki, Hyogo, 661 Japan","institution_ids":["https://openalex.org/I4210133125"]},{"raw_affiliation_string":"Central Research Laboratory, Mitsubishi Electric Corporation, 1-1, Tsukaguchi-Honmachi 8-Chome, Amagasaki, Hyogo, 661 Japan","institution_ids":["https://openalex.org/I39854257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080409938","display_name":"S. Hagihara","orcid":null},"institutions":[{"id":"https://openalex.org/I39854257","display_name":"Mitsubishi Electric (Germany)","ror":"https://ror.org/04ccqwj03","country_code":"DE","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I39854257","https://openalex.org/I4210133125"]},{"id":"https://openalex.org/I4210133125","display_name":"Mitsubishi Electric (Japan)","ror":"https://ror.org/033y26782","country_code":"JP","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125"]}],"countries":["DE","JP"],"is_corresponding":false,"raw_author_name":"Shiro Hagihara","raw_affiliation_strings":["Central Research Laboratory, Mitsubishi Electric Corporation, 1-1 Tsukaguchi-honmachi 8-chome, Amagasaki, Hyogo, 661 Japan","Central Research Laboratory, Mitsubishi Electric Corporation, 1-1, Tsukaguchi-Honmachi 8-Chome, Amagasaki, Hyogo, 661 Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Central Research Laboratory, Mitsubishi Electric Corporation, 1-1 Tsukaguchi-honmachi 8-chome, Amagasaki, Hyogo, 661 Japan","institution_ids":["https://openalex.org/I4210133125"]},{"raw_affiliation_string":"Central Research Laboratory, Mitsubishi Electric Corporation, 1-1, Tsukaguchi-Honmachi 8-Chome, Amagasaki, Hyogo, 661 Japan","institution_ids":["https://openalex.org/I39854257"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5318,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.82541554,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"1","issue":"1","first_page":"21","last_page":"31"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9968000054359436,"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":0.9945999979972839,"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":0.8786035180091858},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7929581999778748},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7459939122200012},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6628618836402893},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6087089776992798},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6040700674057007},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5209544897079468},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5162336826324463},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4512450397014618},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4366509020328522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43059295415878296},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42319005727767944},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3623949885368347},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35742753744125366},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19950178265571594},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16922950744628906},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1616136133670807},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15654823184013367},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1487235128879547}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8786035180091858},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7929581999778748},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7459939122200012},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6628618836402893},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6087089776992798},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6040700674057007},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5209544897079468},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5162336826324463},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4512450397014618},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4366509020328522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43059295415878296},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42319005727767944},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3623949885368347},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35742753744125366},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19950178265571594},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16922950744628906},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1616136133670807},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15654823184013367},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1487235128879547},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855386x00292","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855386x00292","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2004609114","https://openalex.org/W2063168630","https://openalex.org/W2080017937","https://openalex.org/W2134357662","https://openalex.org/W2503960379","https://openalex.org/W6780173504"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W1969999327","https://openalex.org/W3030642493","https://openalex.org/W4283266117","https://openalex.org/W2744818472","https://openalex.org/W3126987580","https://openalex.org/W2607470227","https://openalex.org/W1971821535"],"abstract_inverted_index":{"A":[0],"new":[1],"method":[2,85,96],"of":[3,7,44,47,62,70,80,94,107,112],"a":[4,15,28,40,89],"numerical":[5,78,90],"solution":[6,69],"robot":[8,108],"arm":[9],"inverse":[10,72,117],"kinematics":[11,73,100,118],"and":[12],"dynamics":[13],"for":[14,104],"desired":[16,29,42,55],"trajectory":[17,43],"expressed":[18,31],"in":[19,32],"the":[20,33,45,54,60,71],"task":[21,34],"coordinates":[22,35],"is":[23,36,57,86],"proposed.":[24],"In":[25],"this":[26,95],"method,":[27],"acceleration":[30,56,61,123],"obtained":[37],"by":[38,77,88],"differentiating":[39],"given":[41],"top":[46],"hand":[48],"with":[49],"respect":[50],"to":[51],"time.":[52],"Then":[53],"transformed":[58],"into":[59],"each":[63,81,121],"joint":[64,82,122],"using":[65],"kinematic":[66],"relations.":[67],"Numerical":[68],"can":[74,101,125],"be":[75,102,126],"realized":[76],"integration":[79],"acceleration.":[83],"The":[84,92],"verified":[87],"example.":[91],"advantages":[93],"are:":[97],"(1)":[98],"Inverse":[99],"solved":[103],"any":[105],"construction":[106],"having":[109],"six":[110],"degrees":[111],"freedom.":[113],"(2)":[114],"Not":[115],"only":[116],"but":[119],"also":[120],"forces":[124],"obtained.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
