{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T19:30:15Z","timestamp":1698089415440},"reference-count":19,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2007,3,21]],"date-time":"2007-03-21T00:00:00Z","timestamp":1174435200000},"content-version":"vor","delay-in-days":7506,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1986,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Presented are four sets of exact solutions for the vector of the joint angles {\u03b8<jats:sub>i<\/jats:sub>} pertaining to the inverse kinematics problem of a standard 6\u2010axis robot manipulator with two different kinds of gripper configurations. Here a standard 6\u2010axis robot is meant to be a general computer\u2010controlled revolute robot with base, shoulder, elbow, wrist pitch, wrist yaw, wrist roll, and gripping action.<\/jats:p><jats:p>Explicit solutions are obtained using Denavit\u2010Hartenberg homogeneous transformations. Furthermore, the inverse solutions are examined by means of a direct kinematic computer program.<\/jats:p>","DOI":"10.1002\/rob.4620030306","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:27:35Z","timestamp":1183699655000},"page":"259-280","source":"Crossref","is-referenced-by-count":2,"title":["Exact solution to the inverse kinematics problem of a standard 6\u2010axis robot manipulator"],"prefix":"10.1002","volume":"3","author":[{"given":"M.","family":"Shahinpoor","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Jamshidi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Young T.","family":"Kim","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"D. 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D.Powell \u201cAn Efficient Method for Finding the Minimum of a Function of Several Variables Without Calculating Derivatives \u201dThe Comp J. pp.155\u2013164 (1964).","DOI":"10.1093\/comjnl\/7.2.155"},{"key":"e_1_2_1_10_2","unstructured":"L. W.TsaiandA. P.Morgan \u201cSolving the Kinematics of the Most General Six\u2010 and Five\u2010 degree of Freedom Manipulators by Continuation Methods \u201d General Motors Research Report No. GMR\u20104631 October (1984)."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.1984.310452"},{"key":"e_1_2_1_12_2","doi-asserted-by":"crossref","unstructured":"A.Balestrino G.DeMaria andL.Sciavicco \u201cRobust Control of Robotic Manipulators \u201dProceedings of the 9th IFAC World Congress Budapest Hungary (1984).","DOI":"10.1016\/S1474-6670(17)61347-8"},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"W. 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