{"id":"https://openalex.org/W1996123965","doi":"https://doi.org/10.2316/journal.206.2004.1.206-2029","title":"Placement of Robot Manipulators to Maximize Dexterity","display_name":"Placement of Robot Manipulators to Maximize Dexterity","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W1996123965","doi":"https://doi.org/10.2316/journal.206.2004.1.206-2029","mag":"1996123965"},"language":"en","primary_location":{"id":"doi:10.2316/journal.206.2004.1.206-2029","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2004.1.206-2029","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","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/A5111863602","display_name":"Karim Abdel\u2010Malek","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"K. Abdel-Malek","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083293294","display_name":"Wei Yu","orcid":"https://orcid.org/0000-0002-9683-1209"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"W. Yu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5054246503","display_name":"James Yang","orcid":"https://orcid.org/0000-0003-0842-7933"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Yang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5111863602"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5075,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.91657152,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"19","issue":"1","first_page":null,"last_page":null},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/robot-manipulator","display_name":"Robot manipulator","score":0.7458466291427612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6487216949462891},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4401968717575073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37947404384613037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35930687189102173},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33322685956954956},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1817779541015625},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06268057227134705}],"concepts":[{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.7458466291427612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6487216949462891},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4401968717575073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37947404384613037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35930687189102173},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33322685956954956},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1817779541015625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06268057227134705}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.2316/journal.206.2004.1.206-2029","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2004.1.206-2029","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.25.7025","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.25.7025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.engineering.uiowa.edu/~amalek/papers/dexterity-paper.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":19,"referenced_works":["https://openalex.org/W73487614","https://openalex.org/W1560812235","https://openalex.org/W1896435690","https://openalex.org/W1980036651","https://openalex.org/W1981972404","https://openalex.org/W1999579984","https://openalex.org/W2048614110","https://openalex.org/W2049410986","https://openalex.org/W2057414062","https://openalex.org/W2062653996","https://openalex.org/W2119332045","https://openalex.org/W2138689123","https://openalex.org/W2139539458","https://openalex.org/W2152916401","https://openalex.org/W2155882723","https://openalex.org/W2164998960","https://openalex.org/W2246023205","https://openalex.org/W3150858842","https://openalex.org/W3159439845"],"related_works":["https://openalex.org/W4238458658","https://openalex.org/W3213839729","https://openalex.org/W2753073204","https://openalex.org/W1979214824","https://openalex.org/W324942907","https://openalex.org/W2381705136","https://openalex.org/W190531548","https://openalex.org/W2685330831","https://openalex.org/W1972570117","https://openalex.org/W2320098853"],"abstract_inverted_index":{"this":[0,55],"paper,":[1],"we":[2],"pose":[3],"the":[4,11,40,45,63,72,76,90],"problem":[5],"in":[6,82],"an":[7,14],"optimization":[8],"form":[9],"without":[10],"utilization":[12],"of":[13,62],"inverse":[15],"kinematics":[16],"algorithm,":[17],"but":[18],"rather":[19],"by":[20],"employing":[21],"a":[22,36,49,68],"dexterity":[23],"measure.":[24],"A":[25],"new":[26,50],"dexterous":[27,56],"performance":[28],"measure":[29],"is":[30],"developed":[31,92],"and":[32,52,65,80,95],"used":[33],"to":[34,48,75,88],"characterize":[35],"formulation":[37],"for":[38,60,70],"moving":[39],"workspace":[41,77],"envelope":[42],"(and":[43],"hence":[44],"robot":[46,64],"base)":[47],"position":[51],"orientation.":[53],"Using":[54],"measure,":[57],"numerical":[58],"techniques":[59,91],"placement":[61],"based":[66],"on":[67],"method":[69],"determining":[71],"exact":[73],"boundary":[74],"are":[78,86],"presented":[79],"implemented":[81],"computer":[83],"code.":[84],"Examples":[85],"given":[87],"illustrate":[89],"using":[93],"planar":[94],"spatial":[96],"serial":[97],"manipulators.":[98]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
