{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:11:24Z","timestamp":1761487884674,"version":"3.33.0"},"reference-count":22,"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>Real\u2010time robot control requires efficient inverse kinematics transformations to compute the temporal evolution of the joint coordinates from the motion of the end\u2010effector. The development of a coherent, general\u2010purpose framework, incorporating position, velocity and acceleration transformations, is the theme of this paper. In this framework, the computational requirements of a new inverse kinematic algorithm are delineated. The algorithm is applicable to serial (open\u2010chain) manipulators with arbitrary axes of motion. Comparative evaluations of the computational cost of the algorithm demonstrate its efficacy and feasibility for real\u2010time applications.<\/jats:p>","DOI":"10.1002\/rob.4620040405","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:12:04Z","timestamp":1183702324000},"page":"527-549","source":"Crossref","is-referenced-by-count":14,"title":["General\u2010purpose inverse kinematics transformations for robotic manipulators"],"prefix":"10.1002","volume":"4","author":[{"suffix":"Jr.","given":"Marcelo H.","family":"Ang","sequence":"first","affiliation":[]},{"given":"Vassilios D.","family":"Tourassis","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"volume-title":"Handbook of Industrial Robotics","year":"1985","author":"Nof S. Y.","key":"e_1_2_1_2_2"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(81)90025-2"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1049\/ip-d.1984.0002"},{"issue":"4","key":"e_1_2_1_5_2","first-page":"134","article-title":"\u201cRobust Nonlinear Feedback Control for Robotic Manipulators,\u201d Proceedings of IEE: Part D","volume":"132","author":"Tourassis V. D.","year":"1985","journal-title":"Special Issue on Robotics"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040108"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200203"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200404"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087013"},{"volume-title":"Robotics for Engineers","year":"1985","author":"Keren Y.","key":"e_1_2_1_10_2"},{"volume-title":"Robot Manipulators\u2014Mathematics, Programming and Control","year":"1981","author":"Paul R. P.","key":"e_1_2_1_11_2"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500203"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500204"},{"volume-title":"Matrix Computations and Mathematical Software","year":"1981","author":"Rice J. R.","key":"e_1_2_1_14_2"},{"issue":"4","key":"e_1_2_1_15_2","article-title":"Singularities of Euler and Roll\u2010Pitch\u2010Yaw Representations","volume":"23","author":"Ang M. H.","year":"1987","journal-title":"IEEE Transactions on Aerospace and Electronic Systems"},{"key":"e_1_2_1_16_2","unstructured":"M. H.Ang Jr.andV. D.Tourassis \u201cKinematic Algorithms for Real\u2010Time Robot Control\u201d Proceedings of the Third IEEE Symposium on Computer\u2010Aided Control System Design Arlington Virginia September24\u201326 1986."},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1093\/comjnl\/10.4.392"},{"key":"e_1_2_1_18_2","unstructured":"Y.Nakamura et. al. \u201cUnified Recursive Formulation of Kinematics and Dynamics of Robot Manipulators \u201d Proceedings of the Japan\u2010U.S.A. Symposium on Flexible Automation 53\u201360 Osaka Japan 1986."},{"key":"e_1_2_1_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIA.1984.4504641"},{"key":"e_1_2_1_20_2","doi-asserted-by":"crossref","unstructured":"D. E.OrinandY. T.Tsai \u201cA Real\u2010time Computer Architecture for Inverse Kinematics \u201d Proceedings of the 1986 IEEE International Conference on Robotics and Automation 2843\u2013850 San Francisco CA April7\u201310 1986.","DOI":"10.1109\/ROBOT.1986.1087569"},{"key":"e_1_2_1_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087016"},{"key":"e_1_2_1_22_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300404"},{"volume-title":"Robot Arm Dynamics and Control","year":"1974","author":"Bejczy A. K.","key":"e_1_2_1_23_2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040405","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040405","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:58:21Z","timestamp":1737183501000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040405"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,8]]},"references-count":22,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1987,8]]}},"alternative-id":["10.1002\/rob.4620040405"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040405","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]]}}}