{"id":"https://openalex.org/W2767459014","doi":"https://doi.org/10.1177/0959651817739793","title":"An algorithm for real-time forward kinematics of 6-degree-of-freedom parallel mechanisms","display_name":"An algorithm for real-time forward kinematics of 6-degree-of-freedom parallel mechanisms","publication_year":2017,"publication_date":"2017-11-11","ids":{"openalex":"https://openalex.org/W2767459014","doi":"https://doi.org/10.1177/0959651817739793","mag":"2767459014"},"language":"en","primary_location":{"id":"doi:10.1177/0959651817739793","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651817739793","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5082407334","display_name":"Changhong Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhong Gao","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103011696","display_name":"Zhidong Yang","orcid":"https://orcid.org/0000-0002-9738-0227"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhidong Yang","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048626725","display_name":"Shupeng Zheng","orcid":"https://orcid.org/0000-0002-5044-9450"},"institutions":[{"id":"https://openalex.org/I169572211","display_name":"Northeast Agricultural University","ror":"https://ror.org/0515nd386","country_code":"CN","type":"education","lineage":["https://openalex.org/I169572211"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shupeng Zheng","raw_affiliation_strings":["School of Electrical and Information, Northeast Agricultural University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information, Northeast Agricultural University, Harbin, China","institution_ids":["https://openalex.org/I169572211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108432073","display_name":"Dacheng Cong","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dacheng Cong","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103011696"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.3968,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.63792117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"232","issue":"2","first_page":"109","last_page":"120"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9958999752998352,"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":0.7578745484352112},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6092379093170166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6084247827529907},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.5962051749229431},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5184173583984375},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5178549885749817},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5147193074226379},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5102050304412842},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.49454447627067566},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.491659939289093},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2479344606399536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2290424406528473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1535663902759552},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.1217825710773468},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0998414158821106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07400268316268921}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7578745484352112},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6092379093170166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6084247827529907},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.5962051749229431},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5184173583984375},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5178549885749817},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5147193074226379},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5102050304412842},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.49454447627067566},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.491659939289093},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2479344606399536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2290424406528473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1535663902759552},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.1217825710773468},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0998414158821106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07400268316268921},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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:10.1177/0959651817739793","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651817739793","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G7724816648","display_name":null,"funder_award_id":"51205077, 51475116","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W100179918","https://openalex.org/W388469672","https://openalex.org/W1955975963","https://openalex.org/W1966381024","https://openalex.org/W1974730120","https://openalex.org/W1976699164","https://openalex.org/W2013462535","https://openalex.org/W2021901851","https://openalex.org/W2039472234","https://openalex.org/W2061693744","https://openalex.org/W2067978491","https://openalex.org/W2074384989","https://openalex.org/W2095646014","https://openalex.org/W2106845860","https://openalex.org/W2111574385","https://openalex.org/W2122314050","https://openalex.org/W2129614252","https://openalex.org/W2135129297","https://openalex.org/W2139636347","https://openalex.org/W2164278974","https://openalex.org/W2167515644","https://openalex.org/W2341668857","https://openalex.org/W2477630529","https://openalex.org/W2487306105","https://openalex.org/W2521505120","https://openalex.org/W4229735753","https://openalex.org/W4233868670","https://openalex.org/W4365799809"],"related_works":["https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W1971821535","https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2119719871","https://openalex.org/W2366276599","https://openalex.org/W4256303909","https://openalex.org/W4386631294","https://openalex.org/W2357499095"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,21,42,70,95,157],"forward":[4,23,67,127],"kinematics":[5,24,68,128],"algorithm":[6,25,56,65,129,139,167],"based":[7],"on":[8],"closed-loop":[9],"feedback":[10,22,126],"solution":[11],"for":[12,184],"real-time":[13,143,185],"pose":[14,171,186],"estimation":[15,187],"of":[16,54,69,90,98,125,145,148,188],"6-degree-of-freedom":[17,71],"parallel":[18,74,92,151,189],"mechanisms.":[19,93,190],"First,":[20],"with":[26,172],"second-order":[27,100],"error":[28,101],"dynamics":[29,102],"built":[30,104],"in":[31,59,105,121],"joint":[32,131],"space":[33],"is":[34,39,85,103,108,113,134,140,154,180],"presented":[35],"and":[36,50,82,179,182],"its":[37],"convergence":[38,49],"analyzed.":[40],"Taking":[41],"Stewart":[43],"platform":[44],"as":[45],"an":[46],"example,":[47],"fast":[48],"high":[51,174],"solving":[52,76],"accuracy":[53,175],"the":[55,64,91,123,138,149,165,170],"are":[57],"shown":[58],"simulation.":[60],"However,":[61],"while":[62],"applying":[63],"to":[66,116],"redundantly":[72],"actuated":[73],"mechanisms,":[75],"errors":[77],"will":[78],"be":[79],"growing":[80],"slowly":[81],"non-convergent,":[83],"which":[84,99,153],"caused":[86],"by":[87,156],"redundancy":[88],"character":[89],"Then":[94],"modified":[96],"algorithm,":[97],"Cartesian":[106],"space,":[107],"developed.":[109],"Considering":[110],"velocity":[111,132],"information":[112],"usually":[114],"difficult":[115],"measure":[117],"or":[118],"estimate":[119],"accurately":[120],"reality,":[122],"performance":[124],"without":[130],"feedforward":[133],"also":[135],"evaluated.":[136],"Finally,":[137],"implemented":[141],"into":[142],"degree":[144],"freedom":[146],"control":[147],"redundant":[150],"mechanisms":[152],"calibrated":[155],"coordinate":[158],"measuring":[159],"machine.":[160],"Experiment":[161],"results":[162],"show":[163],"that":[164],"proposed":[166],"can":[168],"solve":[169],"relatively":[173],"under":[176],"static":[177],"conditions":[178],"effective":[181],"feasible":[183]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
