{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T01:54:52Z","timestamp":1767664492264,"version":"3.33.0"},"reference-count":32,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,22]],"date-time":"2007-03-22T00:00:00Z","timestamp":1174521600000},"content-version":"vor","delay-in-days":6077,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Traditional industrial and research manipulators have a fixed configuration and are thus suited for a certain class of tasks. In order to make manipulators flexible and suited for a larger class of tasks we have proposed the concept of a Reconfigurable Modular Manipulator System (RMMS). The RMMS consists of a set of modular links and joints of various sizes; reconfigurable manipulators are designed and built from this system as appropriate for a given task. In order to effectively utilize such a system, one needs algorithms for automatically generating the kinematic descriptions for an arbitrary manipulator configured from the RMMS. Previous research on the kinematics of robotic manipulators has addressed fixed configuration manipulator systems. In this article, we propose an algorithm for automatically generating both the forward and inverse kinematics of a serial link<jats:italic>N<\/jats:italic>degrees\u2010of\u2010freedom reconfigurable manipulator. Generation of the kinematic equations that govern a modular manipulator starts with geometric descriptions of the units, or modules, as well as their sequence in the manipulator. Using this geometric information, we determine the Denavit\u2010Hartenberg parameters of a reconfigurable manipulator. The Denavit\u2010Hartenberg kinematic parameters are then used to obtain the forward kinematic transformation of the system. We also address the problem of otaining the inverse kinematics of reconfigurable manipulators. In order to automate the inverse kinematics and to make the procedure as general as possible, we have proposed the idea of scaling a manipulator. We use the efficient numerical approach and in the case of a redundant manipulator, we exploit the extra degrees of freedom to achieve singularity avoidance. We have implemented our algorithms on an Ironies 68020 based single board computer that is used to control the prototype Reconfigurable Modular Manipular System (RMMS) which is being developed in our laboratory.<\/jats:p>","DOI":"10.1002\/rob.4620070406","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:24:25Z","timestamp":1183717465000},"page":"599-619","source":"Crossref","is-referenced-by-count":37,"title":["Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system"],"prefix":"10.1002","volume":"7","author":[{"given":"Laura","family":"Kelmar","sequence":"first","affiliation":[]},{"given":"Pradeep K.","family":"Khosla","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"D.Schmitz P. K.Khosla andT.Kanade \u201cDevelopment of CMU direct\u2010drive arm II.\u201d inProceedings of the 15th International Symposium on Industrial Robotics. Y. Hasegawa Ed. Tokyo Japan September 11\u201313 1985."},{"key":"e_1_2_1_3_2","first-page":"704","volume-title":"Design considerations for manipulator workspace","author":"Gupta K. C.","year":"1982"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500204"},{"key":"e_1_2_1_5_2","first-page":"679","volume-title":"Robotics Research: Reprints from the First International Symposium","author":"Roth B.","year":"1984"},{"key":"e_1_2_1_6_2","unstructured":"M.KircanskiandM.Vukobratovic \u201cA new program for generating symbolic kinematic models of arbitrary serial\u2010link manipulators \u201d inProceedings 16th International Symposium on Industrial Robots September 30 1986 pp.249\u2013258."},{"key":"e_1_2_1_7_2","first-page":"836","volume-title":"Proceedings of IEEE Conference on Robotics and Automation","author":"Sreenath N.","year":"1986"},{"volume-title":"Proceedings of Joint ACC","year":"1980","author":"Liegeois","key":"e_1_2_1_8_2"},{"volume-title":"IEEE Conference on Robotics and Automation","year":"1988","author":"Kelmar L.","key":"e_1_2_1_9_2"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143764"},{"volume-title":"A Survey of Research Robots","year":"1987","author":"Walker M.","key":"e_1_2_1_11_2"},{"volume-title":"Proceedings of 1988 Conference on Robotics and Automation","year":"1988","author":"Fukuda T.","key":"e_1_2_1_12_2"},{"volume-title":"Proceedings of NATO Advanced Research Workshop","year":"1988","author":"Tesar D.","key":"e_1_2_1_13_2"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88042"},{"key":"e_1_2_1_15_2","first-page":"37","volume-title":"Proceedings of the 16th International Symposium on Industrial Robotics","author":"Wurst K. H.","year":"1986"},{"volume-title":"Technical Brochure on Modular Arms","year":"1987","key":"e_1_2_1_16_2"},{"volume-title":"CHIMERA: A Real\u2010Time Programming Environment for Manipulator Control","year":"1988","author":"Schmitz D.","key":"e_1_2_1_17_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":"2","author":"Denavit J.","year":"1955","journal-title":"ASME Journal of Applied Mechanics"},{"key":"e_1_2_1_19_2","first-page":"694","volume-title":"Proceedings of the Joint Automatic Control Conference","author":"Paul R. P.","year":"1976"},{"key":"e_1_2_1_20_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500202"},{"key":"e_1_2_1_21_2","unstructured":"D. L.Pieper The Kinematics of Manipulators under Computer Control.PhD thesis Department of Computer Science Stanford University 1968."},{"volume-title":"Robotics: Basic Analysis and Design","year":"1987","author":"Wolovich W. A.","key":"e_1_2_1_22_2"},{"key":"e_1_2_1_23_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3269106"},{"key":"e_1_2_1_24_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400103"},{"key":"e_1_2_1_25_2","doi-asserted-by":"crossref","unstructured":"J. M.HollerbachandG.Sahar \u201cWrist partitioned inverse kinematic accelerations and manipulator dynamics \u201d inProceedings of the First International IEEE Conference on Robotics R. P. Paul Ed. Atlanta GA March 13\u201315 1984 pp.152\u2013161.","DOI":"10.1109\/ROBOT.1984.1087172"},{"key":"e_1_2_1_26_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul J.Hollerbach andR.Brockett \u201cProgramming and control of kinematically redundant manipulators \u201d inProc. 23rd Conference on Decision and Control December 1984 pp.768\u2013774.","DOI":"10.1109\/CDC.1984.272110"},{"key":"e_1_2_1_27_2","doi-asserted-by":"crossref","unstructured":"P. H.Chang \u201cA closed\u2010form solution for the control of manipulators with kinematic redundancy \u201dIEEE International Conference on Robotics and Automation April 1986 pp.9\u201314.","DOI":"10.1109\/ROBOT.1986.1087725"},{"key":"e_1_2_1_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"volume-title":"Applied Linear Algebra","year":"1977","author":"Noble B.","key":"e_1_2_1_29_2"},{"key":"e_1_2_1_30_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul \u201cKinematic programming alternatives for redundant manipulators \u201d inIEEE International Conference on Robotics and Automation March 1985 pp.722\u2013728.","DOI":"10.1109\/ROBOT.1985.1087234"},{"volume-title":"Proceedings of the Second International Symposium on Robotics Research","year":"1985","author":"Yoshikawa T.","key":"e_1_2_1_31_2"},{"key":"e_1_2_1_32_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102314"},{"key":"e_1_2_1_33_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620050603"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620070406","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620070406","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:17:58Z","timestamp":1737184678000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620070406"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,8]]},"references-count":32,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1990,8]]}},"alternative-id":["10.1002\/rob.4620070406"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620070406","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1990,8]]}}}