{"id":"https://openalex.org/W2147528493","doi":"https://doi.org/10.1177/0037549704046338","title":"Simulating a Robotic Arm in a Box: Redundant Kinematics, Path Planning, and Rapid Prototyping for Enclosed Spaces","display_name":"Simulating a Robotic Arm in a Box: Redundant Kinematics, Path Planning, and Rapid Prototyping for Enclosed Spaces","publication_year":2004,"publication_date":"2004-06-01","ids":{"openalex":"https://openalex.org/W2147528493","doi":"https://doi.org/10.1177/0037549704046338","mag":"2147528493"},"language":"en","primary_location":{"id":"doi:10.1177/0037549704046338","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0037549704046338","pdf_url":null,"source":{"id":"https://openalex.org/S32573412","display_name":"SIMULATION","issn_l":"0037-5497","issn":["0037-5497","1741-3133"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIMULATION","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/A5034609903","display_name":"Joseph Wunderlich","orcid":null},"institutions":[{"id":"https://openalex.org/I35429941","display_name":"Elizabethtown College","ror":"https://ror.org/01y0mgq54","country_code":"US","type":"education","lineage":["https://openalex.org/I35429941"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joseph T. Wunderlich","raw_affiliation_strings":["Elizabethtown College, Computer Science and Computer Engineering                         Programs, Elizabethtown, PA 17022,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Elizabethtown College, Computer Science and Computer Engineering                         Programs, Elizabethtown, PA 17022,","institution_ids":["https://openalex.org/I35429941"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5034609903"],"corresponding_institution_ids":["https://openalex.org/I35429941"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.12323032,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"80","issue":"6","first_page":"301","last_page":"316"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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/kinematics","display_name":"Kinematics","score":0.6843830943107605},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.621807336807251},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5957183241844177},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5814502239227295},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5764834880828857},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5460571646690369},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5412793159484863},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"Rapid prototyping","score":0.5197126865386963},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.45386338233947754},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44500023126602173},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44435685873031616},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44156622886657715},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41452616453170776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40093398094177246},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37759289145469666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3372325301170349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22774076461791992},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1474461853504181},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0924050509929657}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6843830943107605},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.621807336807251},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5957183241844177},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5814502239227295},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5764834880828857},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5460571646690369},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5412793159484863},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.5197126865386963},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.45386338233947754},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44500023126602173},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44435685873031616},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44156622886657715},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41452616453170776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40093398094177246},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37759289145469666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3372325301170349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22774076461791992},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1474461853504181},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0924050509929657},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0037549704046338","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0037549704046338","pdf_url":null,"source":{"id":"https://openalex.org/S32573412","display_name":"SIMULATION","issn_l":"0037-5497","issn":["0037-5497","1741-3133"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIMULATION","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W194532980","https://openalex.org/W1589481967","https://openalex.org/W1600615799","https://openalex.org/W1842017619","https://openalex.org/W1971507640","https://openalex.org/W1978301848","https://openalex.org/W1982442957","https://openalex.org/W2042803738","https://openalex.org/W2048614110","https://openalex.org/W2049410986","https://openalex.org/W2058544403","https://openalex.org/W2096057088","https://openalex.org/W2104332709","https://openalex.org/W2107501891","https://openalex.org/W2118872175","https://openalex.org/W2119160845","https://openalex.org/W2128202871","https://openalex.org/W2128990851","https://openalex.org/W2166119580","https://openalex.org/W2168202898","https://openalex.org/W2296280963","https://openalex.org/W2316008731","https://openalex.org/W2626990741","https://openalex.org/W3142707146","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2187522440","https://openalex.org/W3126987580","https://openalex.org/W2610147447","https://openalex.org/W4293530535","https://openalex.org/W2164060583","https://openalex.org/W1570961203","https://openalex.org/W4200380753","https://openalex.org/W4312775716","https://openalex.org/W2124539605","https://openalex.org/W1547110748"],"abstract_inverted_index":{"Robotic":[0],"arms":[1,133],"often":[2,98],"perform":[3],"industrial":[4],"tasks":[5,146],"requiring":[6],"complex":[7,119],"dextrous":[8],"manipulation":[9],"within":[10,27],"constrained":[11],"spaces.":[12],"For":[13],"example,":[14],"automobile":[15],"unibody":[16],"assembly":[17],"can":[18,33,60,93,138],"require":[19],"more":[20],"than":[21],"5000":[22],"welds,":[23],"with":[24,109],"many":[25,123,140],"performed":[26],"the":[28,78,82,110],"vehicle\u2019s":[29],"interior.":[30],"An":[31],"arm":[32],"be":[34,61,94],"designed":[35],"specifically":[36],"for":[37,63,134,144],"this":[38],"type":[39],"of":[40,48,55,71,80,88,112,130],"task":[41],"by":[42],"permuting":[43],"link":[44],"lengths":[45],"and":[46,69,96,137,147],"degrees":[47],"freedom":[49],"(DOF)":[50],"to":[51,90,115],"find":[52],"a":[53,128],"set":[54],"feasible":[56],"designs.":[57,101],"Each":[58],"design":[59],"evaluated":[62],"joint-angle":[64],"displacement,":[65],"dexterity,":[66],"simulated":[67],"speed,":[68],"consumption":[70],"available":[72],"redundancy.":[73],"A":[74],"heuristic":[75],"search":[76],"increases":[77],"probability":[79],"having":[81],"needed":[83],"kinematic":[84],"structure.":[85],"Hyperredundant":[86],"designs":[87,141],"up":[89],"10":[91],"DOF":[92],"created,":[95],"searches":[97],"yield":[99,139],"minimized-DOF":[100],"The":[102],"path-planning":[103],"technique":[104],"combines":[105],"pseudo-inverse":[106],"velocity":[107],"control":[108],"concept":[111],"attractive":[113],"poles":[114],"allow":[116],"maneuvering":[117],"through":[118],"enclosures":[120],"while":[121],"avoiding":[122],"obstacles.":[124],"This":[125],"research":[126],"provides":[127],"means":[129],"rapid-prototyping":[131],"robotic":[132],"enclosed":[135],"spaces":[136],"locally":[142],"optimized":[143],"given":[145],"environments.":[148]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2013,"cited_by_count":4}],"updated_date":"2026-05-05T06:06:40.768181","created_date":"2025-10-10T00:00:00"}