{"id":"https://openalex.org/W2155392244","doi":"https://doi.org/10.1177/02783649922067771","title":"On the Kinematic Analysis of Robotic Mechanisms","display_name":"On the Kinematic Analysis of Robotic Mechanisms","publication_year":1999,"publication_date":"1999-12-01","ids":{"openalex":"https://openalex.org/W2155392244","doi":"https://doi.org/10.1177/02783649922067771","mag":"2155392244"},"language":"en","primary_location":{"id":"doi:10.1177/02783649922067771","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922067771","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","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/A5000423043","display_name":"J. Nielsen","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"James Nielsen","raw_affiliation_strings":["Design Division, Department of Mechanical Engineering, Stanford                         University, Stanford, CA 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design Division, Department of Mechanical Engineering, Stanford                         University, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111811328","display_name":"Bernard Roth","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Bernard Roth","raw_affiliation_strings":["Design Division, Department of Mechanical Engineering, Stanford                         University, Stanford, CA 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design Division, Department of Mechanical Engineering, Stanford                         University, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5000423043","https://openalex.org/A5111811328"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":3.112,"has_fulltext":false,"cited_by_count":96,"citation_normalized_percentile":{"value":0.90924501,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"18","issue":"12","first_page":"1147","last_page":"1160"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9970999956130981,"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":0.9093731641769409},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.696399450302124},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5992641448974609},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.5754857063293457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5106883645057678},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.49739721417427063},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46193990111351013},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4400984048843384},{"id":"https://openalex.org/keywords/kinematic-diagram","display_name":"Kinematic diagram","score":0.4299928545951843},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4117690324783325},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39259424805641174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2622576355934143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2000579833984375},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17871403694152832},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1412646472454071},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10877940058708191},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06725779175758362}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.9093731641769409},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.696399450302124},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5992641448974609},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.5754857063293457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5106883645057678},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.49739721417427063},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46193990111351013},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4400984048843384},{"id":"https://openalex.org/C171046052","wikidata":"https://www.wikidata.org/wiki/Q29301","display_name":"Kinematic diagram","level":4,"score":0.4299928545951843},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4117690324783325},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39259424805641174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2622576355934143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2000579833984375},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17871403694152832},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1412646472454071},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10877940058708191},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06725779175758362},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/02783649922067771","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649922067771","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"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":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.968.1665","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.968.1665","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/18/12/1147.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W57975725","https://openalex.org/W133956103","https://openalex.org/W628477427","https://openalex.org/W1480928214","https://openalex.org/W1487319489","https://openalex.org/W1487823766","https://openalex.org/W1492098934","https://openalex.org/W1523185471","https://openalex.org/W1612551514","https://openalex.org/W1974730120","https://openalex.org/W1977145560","https://openalex.org/W1991844548","https://openalex.org/W2000710157","https://openalex.org/W2002184345","https://openalex.org/W2003478172","https://openalex.org/W2018163174","https://openalex.org/W2027720677","https://openalex.org/W2028099324","https://openalex.org/W2033530068","https://openalex.org/W2044933794","https://openalex.org/W2067236171","https://openalex.org/W2075474422","https://openalex.org/W2086808289","https://openalex.org/W2101855097","https://openalex.org/W2108729524","https://openalex.org/W2141049403","https://openalex.org/W2143135684","https://openalex.org/W2149186423","https://openalex.org/W2149809759","https://openalex.org/W2157372622","https://openalex.org/W2157940371","https://openalex.org/W2226994204","https://openalex.org/W2319466955","https://openalex.org/W2500799224","https://openalex.org/W2568585645","https://openalex.org/W2798909945","https://openalex.org/W2982723241","https://openalex.org/W3131510130","https://openalex.org/W3198343999","https://openalex.org/W4229979102","https://openalex.org/W4246420128","https://openalex.org/W4248921483","https://openalex.org/W4250501683","https://openalex.org/W6605484838","https://openalex.org/W6628737389","https://openalex.org/W6651045662"],"related_works":["https://openalex.org/W881443103","https://openalex.org/W1880935057","https://openalex.org/W2972304526","https://openalex.org/W2355512144","https://openalex.org/W2544369928","https://openalex.org/W4206303049","https://openalex.org/W2743986139","https://openalex.org/W2005471069","https://openalex.org/W2349125042","https://openalex.org/W4312515014"],"abstract_inverted_index":{"The":[0,107],"kinematic":[1,78,91],"analyses,":[2],"of":[3,10,18,20,27,38,47,58,62,67,73,80,93,132,147],"manipulators":[4],"and":[5,30,40,98,115,143],"other":[6],"robotic":[7],"devices":[8],"composed":[9],"mechanical":[11],"links,":[12],"usually":[13],"depend":[14],"on":[15,44],"the":[16,45,63,71,77,90,99,120,130,137,144],"solution":[17,50,103,108,131],"sets":[19],"nonlinear":[21],"equations.":[22],"There":[23],"are":[24,96,105,110],"a":[25,68,81],"variety":[26],"both":[28],"numerical":[29],"algebraic":[31],"techniques":[32,104,109,128],"available":[33],"to":[34,41,55,76],"solve":[35],"such":[36,94],"systems":[37,95],"equations":[39],"give":[42],"bounds":[43],"number":[46,72],"solutions.":[48],"These":[49],"methods":[51],"have":[52,123],"also":[53],"led":[54],"an":[56],"understanding":[57],"how":[59],"special":[60],"choices":[61],"various":[64],"structural":[65],"parameters":[66],"mechanism":[69],"influence":[70],"solutions":[74],"inherent":[75],"geometry":[79,92],"given":[82],"structure.":[83],"In":[84],"this":[85],"paper,":[86],"results":[87,121],"from":[88],"studying":[89],"reviewed,":[97],"three":[100],"most":[101],"useful":[102],"summarized.":[106],"polynomial":[111],"continuation,":[112],"Gr\u00f6bner":[113],"bases,":[114],"elimination.":[116],"We":[117],"then":[118],"discuss":[119],"that":[122],"been":[124],"obtained":[125],"with":[126],"these":[127],"in":[129],"two":[133],"basic":[134],"problems,":[135],"namely,":[136],"inverse":[138],"kinematics":[139,146],"for":[140],"serial-chain":[141],"manipulators,":[142],"direct":[145],"in-parallel":[148],"platform":[149],"devices.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":4}],"updated_date":"2026-08-09T07:27:16.801131","created_date":"2025-10-10T00:00:00"}