{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T17:15:16Z","timestamp":1758820516321,"version":"3.33.0"},"reference-count":25,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7164,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Inverse Kinematics has been recognized as an important problem in robotics applications. A robot independent solution can only be obtained through numerical methods, but most solutions which use this approach have problems with convergence especially near singularity points. This article develops a strictly convergent algorithm and a special\u2010purpose Inverse Kinematics Processor (IKP) to obtain the solution in real time. While the algorithm is based on open\u2010loop integration of rates, the absolute position deviation is used as a criterion to control the iteration, and a feedback mechanism has been especially designed to eliminate problems with long\u2010term drift or with initial errors in the solution. The architecture of the IKP is based on a high\u2010speed floating\u2010point arithmetic processor and is designed to perform the common matrix\u2010vector operations efficiently with a minimum processor cycle time. The algorithm has been simulated on the proposed architecture, and the results show its robustness and real\u2010time capability. For a six degree\u2010of\u2010freedom robot manipulator (for which no closed\u2010form solution exist), the Inverse Kinematics solution may be obtained at an approximate 2 khz rate with an error which is within standard repeatability limits.<\/jats:p>","DOI":"10.1002\/rob.4620040403","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:12:04Z","timestamp":1183702324000},"page":"477-501","source":"Crossref","is-referenced-by-count":42,"title":["A strictly convergent real\u2010time solution for inverse kinematics of robot manipulators"],"prefix":"10.1002","volume":"4","author":[{"given":"Yusheng T.","family":"Tsai","sequence":"first","affiliation":[]},{"given":"David E.","family":"Orin","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"D. L.Pieper \u201cThe Kinematics of Manipulators Under Computer Control.\u201d Ph.D. dissertation Stanford University CA 1969."},{"issue":"6","key":"e_1_2_1_3_2","doi-asserted-by":"crossref","first-page":"449","DOI":"10.1109\/TSMC.1981.4308713","article-title":"Kinematic Control Equations for Simple Manipulators","volume":"11","author":"Paul R. P.","year":"1981","journal-title":"IEEE Trans, on Systems, Man, and Cybernetics"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200203"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200404"},{"issue":"3","key":"e_1_2_1_6_2","doi-asserted-by":"crossref","first-page":"142","DOI":"10.1109\/JRA.1985.1087013","article-title":"Efficient Kinematic Transformations for PUMA 560 Robot","volume":"1","author":"Shadia Elgazzar","year":"1985","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"H. W.Stone A. C.Sanderson andC. P.Neuman \u201cArm Signature Identification \u201d Proc. 1986 IEEE International Conference on Robotics and Automation San Francisco CA 41\u201348.","DOI":"10.1109\/ROBOT.1986.1087664"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010303"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400203"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1086995"},{"key":"e_1_2_1_11_2","first-page":"1","article-title":"An Efficient Numerical Approach for Calculating the Inverse Kinematics for Robot Manipulators","volume":"1","author":"Lenarcic J.","year":"1983","journal-title":"Robotica"},{"key":"e_1_2_1_12_2","doi-asserted-by":"crossref","unstructured":"K. C.Gupta andK.Kazerounian \u201cImproved Numerical Solutions of Inverse Kinematics of Robots \u201d Proceedings 1985 IEEE International Conference on Robotics and Automation St. Louis Mo March1985 743\u2013748.","DOI":"10.1109\/ROBOT.1985.1087237"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1986.289285"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1979.4310109"},{"key":"e_1_2_1_15_2","unstructured":"E. A.Ribble \u201cSynthesis of Human Skeletal Motion and the Design of a Special\u2010Purpose Processor for Real\u2010Time Animation of Human and Animal Figure Motion\u201d M.S. thesis The Ohio State University Columbus Ohio June1982."},{"key":"e_1_2_1_16_2","first-page":"39","volume-title":"Systolic Architectures for Computation of the Jacobian for Robot Manipulators,\u201d Special Computer Architectures for Robotics and Automation","author":"Orin D. E.","year":"1987"},{"issue":"4","key":"e_1_2_1_17_2","doi-asserted-by":"crossref","first-page":"532","DOI":"10.1109\/TSMC.1986.289256","article-title":"Efficient Parallel Algorithm for Robot Inverse Dynamics Computation","volume":"16","author":"George Lee C. S.","year":"1986","journal-title":"IEEE Trans, on Systems, Man, and Cybernetics"},{"issue":"2","key":"e_1_2_1_18_2","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1115\/1.4011045","article-title":"A Kinematic Notation for Lower\u2010Pair Mechanisms Based on Matrices","volume":"23","author":"Denavit J.","year":"1955","journal-title":"ASME Journal of Applied Mechanics"},{"key":"e_1_2_1_19_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300404"},{"key":"e_1_2_1_20_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"key":"e_1_2_1_21_2","unstructured":"K. W.Lilly \u201cMultiprocessor Implementation of Real\u2010Time Control Schemes for Robot Manipulators \u201d M.S. thesis The Ohio State University Columbus Ohio August1985."},{"key":"e_1_2_1_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"e_1_2_1_23_2","unstructured":"Y. T.Tsai \u201cA Strictly Convergent Real\u2010Time Solution for Inverse Kinematics for Robot Manipulators \u201d Ph.D. dissertation The Ohio State University Columbus Ohio June1986."},{"key":"e_1_2_1_24_2","doi-asserted-by":"publisher","DOI":"10.1145\/321264.321272"},{"volume-title":"AMD 1985 Data Book: Bipolar Microprocessor Logic and Interface, Advanced","year":"1985","key":"e_1_2_1_25_2"},{"key":"e_1_2_1_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/T-C.1970.223019"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040403","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040403","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:58:35Z","timestamp":1737183515000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040403"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,8]]},"references-count":25,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1987,8]]}},"alternative-id":["10.1002\/rob.4620040403"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040403","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1987,8]]}}}