{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:06:46Z","timestamp":1739077606084,"version":"3.37.0"},"reference-count":17,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":7282,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1989,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>An extension of the inverse kinematics algorithm by Gupta and Kazerounian is presented. The robot kinematics is formulated by using the Zero Reference Position Method. Euler parameters and the related vector forms of the spatial rotation concatenation have been used to improve the efficiency of the velocity Jacobian computation. The joint rates are formally integrated by using a modified predictor-corrector method particularized to robot inverse kinematics \u2013 it is a strict descending,<jats:italic>p<\/jats:italic>(1)<jats:italic>c<\/jats:italic>(0 \u2013<jats:italic>n<\/jats:italic>), variable step algorithm. The definitions of the rotational error and overall error measure have been revised. Depending upon the convergence criteria used, these modifications reduce the overall computational time by 20%.<\/jats:p>","DOI":"10.1017\/s0263574700005476","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:22:35Z","timestamp":1236691355000},"page":"159-164","source":"Crossref","is-referenced-by-count":6,"title":["A numerical algorithm for solving robot inverse kinematics"],"prefix":"10.1017","volume":"7","author":[{"given":"K. C.","family":"Gupta","sequence":"first","affiliation":[]},{"given":"V. K.","family":"Singh","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700005476_ref017","unstructured":"17. Gupta K.C. and Singh V.K. , \u201cA Numerical Algorithm For Solving Robot Inverse Kinematics\u201d presented at the 7th IFToMM World Congress. Spain (09 17\u201322, 1987)."},{"key":"S0263574700005476_ref016","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(87)90026-7"},{"key":"S0263574700005476_ref015","volume-title":"Elements of Quaternions","volume":"1","author":"Hamilton","year":"1901"},{"key":"S0263574700005476_ref013","doi-asserted-by":"crossref","DOI":"10.1115\/1.3167078","volume-title":"Spacecraft Dynamics","author":"Kane","year":"1983"},{"volume-title":"Classical Mechanics","year":"1980","author":"Goldstein","key":"S0263574700005476_ref012"},{"key":"S0263574700005476_ref011","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-322-90942-8"},{"volume-title":"Advanced Mechanisms","year":"1966","author":"Beggs","key":"S0263574700005476_ref010"},{"volume-title":"Theoretical Kinematics","year":"1979","author":"Bottema","key":"S0263574700005476_ref004"},{"key":"S0263574700005476_ref001","doi-asserted-by":"crossref","unstructured":"1. Gupta K.C. and Kazerounian K. , \u201cImproved Numerical Solutions of Inverse Kinematics of Robots\u201d Proc. IEEE Conf. Robotics and Automation. St. Louis 743\u2013748 (1985).","DOI":"10.1109\/ROBOT.1985.1087237"},{"key":"S0263574700005476_ref008","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(76)90099-7"},{"volume-title":"Analytical Dynamics Of Particles and Rigid Bodies","year":"1937","author":"Whittaker","key":"S0263574700005476_ref009"},{"key":"S0263574700005476_ref006","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620030105"},{"key":"S0263574700005476_ref005","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500202"},{"key":"S0263574700005476_ref007","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-81857-8"},{"volume-title":"Vector Analysis","year":"1909","author":"Gibbs","key":"S0263574700005476_ref014"},{"key":"S0263574700005476_ref002","unstructured":"2. Orin D.E. and Tsai Y.T. , \u201cA Real Time Computer Architecture for Inverse Kinematics\u201d Proc. IEEE COnf. Robotics and Automation. San Francisco 2, 843\u2013850 (1986)."},{"key":"S0263574700005476_ref003","unstructured":"3. Gupta K.C. , \u201cA Note on Position Analysis of Manipulators\u201d Proc. 7th Applied Mechanisms Conf., Kansas City 3.1\u20133.3 (1981)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700005476","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:57:20Z","timestamp":1738990640000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700005476\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,4]]},"references-count":17,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1989,4]]}},"alternative-id":["S0263574700005476"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700005476","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1989,4]]}}}