{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,9,13]],"date-time":"2023-09-13T19:53:58Z","timestamp":1694634838781},"reference-count":11,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":7191,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1989,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Solving the direct kinematic problem in a symbolic form requires a laborious process of successive multiplications of the link homogeneous transformation matrices and involves a series of algebraic and trigonometric simplifications. The manual production of such solutions is tedious and error-prone. Due to the efficiency of the<jats:italic>Prolog<\/jats:italic>language in symbolic processing, a rule\u2013based<jats:italic>Prolog<\/jats:italic>program is developed to automate the creation of the following processes: Link transformation matrices; forward kinematic solutions; and the Jacobian matrix. This paper presents the backward recursive formulation techniques, the trigonometric identity rules, and some heuristic rules for implementing the System. A verification of the System has been demonstrated in case of several industrial robots.<\/jats:p>","DOI":"10.1017\/s026357470000610x","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:20:38Z","timestamp":1236691238000},"page":"243-254","source":"Crossref","is-referenced-by-count":5,"title":["Symbolically Automated Direct Kinematic Equations Solver for Robotic Manipulators"],"prefix":"10.1017","volume":"7","author":[{"given":"C.Y.","family":"Ho","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jen","family":"Sriwattanathamma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S026357470000610X_ref008","volume-title":"Programming in Prolog","author":"Clocksin","year":"1984"},{"key":"S026357470000610X_ref005","doi-asserted-by":"crossref","unstructured":"5. Denavit J. and Hartenberg R.S. , \u201cA Kinematic Notation for Lower\u2013Pair Mechanism\u201d J. Applied Mechantes 215\u2013221 (06, 1955)","DOI":"10.1115\/1.4011045"},{"key":"S026357470000610X_ref011","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700009334"},{"key":"S026357470000610X_ref001","volume-title":"Robot Manipulators: Mathematics, Programming and Control","author":"Paul","year":"1981"},{"key":"S026357470000610X_ref006","unstructured":"6. Malm J.F. , \u201cSymbolic Matrix Multiplication with Lisp programming\u201d Proceedings of 1984 Robots 8 20.1\u201320.19 (06, 1984)"},{"key":"S026357470000610X_ref010","volume-title":"Expert Systems","author":"Klahr","year":"1986"},{"key":"S026357470000610X_ref007","unstructured":"7. Zewari S.W. , and Zugel J.M. , \u201cProlog Implementation in Robot Kinematics\u201d Computers in Engineering 133\u2013136 (1986)."},{"key":"S026357470000610X_ref002","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-82195-0"},{"key":"S026357470000610X_ref003","volume-title":"Robotics: Control, Sensing, Vision, and Intelligence","author":"Fu","year":"1987"},{"key":"S026357470000610X_ref004","volume-title":"Robot Modelling","author":"Ranky","year":"1985"},{"key":"S026357470000610X_ref009","unstructured":"9. Turbo Prolog: Owner's Handbook, (Borland International Inc., California, 1986)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357470000610X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,2]],"date-time":"2021-10-02T23:26:26Z","timestamp":1633217186000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357470000610X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,7]]},"references-count":11,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1989,7]]}},"alternative-id":["S026357470000610X"],"URL":"https:\/\/doi.org\/10.1017\/s026357470000610x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,7]]}}}