{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T06:10:25Z","timestamp":1697868625219},"reference-count":6,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6980,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1988,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this article two alternatives are introduced as measures for the position and orientation space of 6 DOF manipulators which include considerations of joint limitations and scale. The cumulative freedom of the end effector, considered as a rigid body in 3D space, can thus be quantified. These alternative measures are shown to be equivalent for manipulators with spherical wrists. Applications are presented and the new concepts are illustrated by an example.<\/jats:p>","DOI":"10.1002\/rob.4620050105","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:49:29Z","timestamp":1183704569000},"page":"55-72","source":"Crossref","is-referenced-by-count":1,"title":["Hypersurfaces of special configurations of serial manipulators and related concepts. part III: Measures for the position and orientation space of 6 dof manipulators"],"prefix":"10.1002","volume":"5","author":[{"given":"Resit","family":"Soylu","sequence":"first","affiliation":[]},{"given":"Joseph","family":"Duffy","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620050104"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620050103"},{"key":"e_1_2_1_4_2","first-page":"459","volume-title":"Performance Evaluation of Programmable Robots and Manipulators","author":"Roth B.","year":"1976"},{"key":"e_1_2_1_5_2","volume-title":"Advanced Calculus","author":"Taylor A. E.","year":"1983"},{"key":"e_1_2_1_6_2","unstructured":"B. E.Paden \u201cKinematics and Control of Robot Manipulators \u201dPh.D. Thesis University of California Berkeley 1985."},{"key":"e_1_2_1_7_2","unstructured":"A.Kumar andK. J.Waldron \u201cThe Dextrous Workspace \u201dASME Paper No. 80\u2010DET\u2010108 1980."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620050105","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620050105","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T00:21:07Z","timestamp":1697847667000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620050105"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1988,2]]},"references-count":6,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1988,2]]}},"alternative-id":["10.1002\/rob.4620050105"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620050105","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1988,2]]}}}