{"id":"https://openalex.org/W4417030977","doi":"https://doi.org/10.48550/arxiv.2512.03630","title":"Multimodal Control of Manipulators: Coupling Kinematics and Vision for Self-Driving Laboratory Operations","display_name":"Multimodal Control of Manipulators: Coupling Kinematics and Vision for Self-Driving Laboratory Operations","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W4417030977","doi":"https://doi.org/10.48550/arxiv.2512.03630"},"language":null,"primary_location":{"id":"pmh:oai:arXiv.org:2512.03630","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.03630","pdf_url":"https://arxiv.org/pdf/2512.03630","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2512.03630","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076184368","display_name":"Shifa Sulaiman","orcid":"https://orcid.org/0000-0002-5330-0053"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sulaiman, Shifa","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050122270","display_name":"H Amarnath","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H, Amarnath","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048839097","display_name":"Simon B\u00f8gh","orcid":"https://orcid.org/0000-0002-5960-4365"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bogh, Simon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5011562571","display_name":"Naresh Marturi","orcid":"https://orcid.org/0000-0002-0159-167X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marturi, Naresh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"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":0.5831999778747559,"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":0.5831999778747559,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.10159999877214432,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.07039999961853027,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7828999757766724},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.667900025844574},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6044999957084656},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5771999955177307},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5493000149726868},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5246999859809875},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.48100000619888306},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4717000126838684},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4278999865055084}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7828999757766724},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.667900025844574},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6044999957084656},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5771999955177307},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5493000149726868},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5246999859809875},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.48100000619888306},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4717000126838684},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4278999865055084},{"id":"https://openalex.org/C200106649","wikidata":"https://www.wikidata.org/wiki/Q223683","display_name":"Transpose","level":3,"score":0.4133000075817108},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39640000462532043},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.3880000114440918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3799000084400177},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3646000027656555},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3490999937057495},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.3474999964237213},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.3416000008583069},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.31369999051094055},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3124000132083893},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.2994999885559082},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.2957000136375427},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.2768000066280365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.2687000036239624},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26669999957084656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.257099986076355}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2512.03630","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.03630","pdf_url":"https://arxiv.org/pdf/2512.03630","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2512.03630","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.03630","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2512.03630","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.03630","pdf_url":"https://arxiv.org/pdf/2512.03630","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417030977.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Motion":[0],"planning":[1,6,25,32,51,78,164,177],"schemes":[2,52,178],"are":[3,58,87,100,132,157,181],"used":[4,76],"for":[5,77,89,159,166,193],"motions":[7,156],"of":[8,29,93,127,142,154,173],"a":[9,16,20,30,62,66,167,188],"manipulator":[10,64,95,129],"from":[11],"an":[12,35,161],"initial":[13],"pose":[14,18],"to":[15,39,60,186],"final":[17],"during":[19],"task":[21],"execution.":[22],"A":[23],"motion":[24,50,163,176],"scheme":[26],"generally":[27],"comprises":[28],"trajectory":[31],"method":[33,165],"and":[34,42,80,96,116,124,130,139,145,151,171],"inverse":[36,190],"kinematic":[37,85],"solver":[38],"determine":[40,187],"trajectories":[41,79,144],"joints":[43],"solutions":[44,92,99],"respectively.":[45],"In":[46],"this":[47],"paper,":[48],"3":[49,104],"developed":[53],"based":[54,83,106],"on":[55],"Jacobian":[56,105,110,123],"methods":[57,107],"implemented":[59],"traverse":[61],"redundant":[63],"with":[65],"coupled":[67],"finger":[68],"gripper":[69,131],"through":[70],"given":[71,168],"trajectories.":[72],"RRT*":[73],"algorithm":[74],"is":[75],"screw":[81,135],"theory":[82,136],"forward":[84],"equations":[86],"solved":[88],"determining":[90,160],"joint":[91,155],"the":[94,128,174,194],"gripper.":[97],"Inverse":[98,114],"computed":[101],"separately":[102],"using":[103,134,183],"such":[108],"as":[109],"Transpose":[111],"(JT),":[112],"Pseudo":[113],"(PI),":[115],"Damped":[117],"Least":[118],"Square":[119],"(DLS)":[120],"methods.":[121],"Space":[122],"manipulability":[125],"measurements":[126],"obtained":[133],"formulations.":[137],"Smoothness":[138],"RMSE":[140],"error":[141],"generated":[143],"velocity":[146],"continuity,":[147],"acceleration":[148],"profile,":[149],"jerk,":[150],"snap":[152],"values":[153],"analysed":[158,182],"efficient":[162],"task.":[169],"Advantages":[170],"disadvantages":[172],"proposed":[175],"mentioned":[179],"above":[180],"simulation":[184],"studies":[185],"suitable":[189],"solution":[191],"technique":[192],"tasks.":[195]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-12-05T00:00:00"}