{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,12]],"date-time":"2024-09-12T17:55:26Z","timestamp":1726163726657},"reference-count":13,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,22]],"date-time":"2007-03-22T00:00:00Z","timestamp":1174521600000},"content-version":"vor","delay-in-days":6199,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The robotic capability for controlled motion depends upon the robot's ability to coordinate its arm and wrist in order to accomplish the desired task. The objective of this article is to define formally the arm\u2010wrist coordination and to introduce a quantitative measure for it. We develop a mathematical framework that provides for the analysis of the impact of both the fixed manipulator geometry and the changing robot configuration upon the efficiency of arm\u2010wrist coordination. In the companion paper (Part 2). manipulator design guidelines are then formulated to guarantee task decomposition for any desired robot task. Numerical simulations demonstrate the efficacy of these design guidelines.<\/jats:p>","DOI":"10.1002\/rob.4620070204","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:50:09Z","timestamp":1183715409000},"page":"167-180","source":"Crossref","is-referenced-by-count":3,"title":["Robot arm\u2010wrist coordination. Part 1. Quantitative rating"],"prefix":"10.1002","volume":"7","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":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906094"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88042"},{"key":"e_1_2_1_4_2","volume-title":"Robotics: Control, Sensing, Vision, and Intelligence","author":"Fu K. S.","year":"1987"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040405"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-4838-5"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88076"},{"key":"e_1_2_1_9_2","volume-title":"Matrix Computations","author":"Golub G. H.","year":"1983"},{"key":"e_1_2_1_10_2","first-page":"735","volume-title":"Robotics Research: The First International Symposium","author":"Yoshikawa T.","year":"1984"},{"key":"e_1_2_1_11_2","unstructured":"M. H.AngJr. \u201cKinematic control of robotic manipulators with multiple interchangeable wrists \u201d PhD Thesis Department of Electrical Engineering University of Rochester Rochester NY August1988."},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.1987.310828"},{"key":"e_1_2_1_13_2","unstructured":"International Mathematical and Statistical Libraries Inc. Houston TX The IMSL Library 1987."},{"key":"e_1_2_1_14_2","unstructured":"D. L.Pieper \u201cThe kinematics of manipulators under computer control \u201d PhD Thesis Computer Science Department Stanford University Stanford CA October1968."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620070204","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620070204","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T16:12:26Z","timestamp":1697991146000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620070204"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,4]]},"references-count":13,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1990,4]]}},"alternative-id":["10.1002\/rob.4620070204"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620070204","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,4]]}}}