{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T17:39:15Z","timestamp":1648748355650},"reference-count":6,"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":8287,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1986,7]]},"abstract":"<jats:sec id=\"S0263574700009334_sec01\"><jats:title>Summary<\/jats:title><jats:p>This paper describes a new approach to obtaining a differential relationship of a robot manipulator via the Theoretical Kinematics method which may expedite computational efforts. The method involves a successive transformation of velocities from the end-effector to the base of the manipulator, link by link, using the relationship of moving coordinate systems. The equations obtained are written in the form suitable for programming on a digital computer. Furthermore, this paper also discusses the speed control model for general robot manipulators and together presents the Inverse Jacobian of cases of underdetermined and overdetermined of joint-controlled variables.<\/jats:p><\/jats:sec>","DOI":"10.1017\/s0263574700009334","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:25:27Z","timestamp":1236691527000},"page":"155-162","source":"Crossref","is-referenced-by-count":3,"title":["Differential relationship of kinematic model and speed control strategies for a computer-controlled robot manipulator"],"prefix":"10.1017","volume":"4","author":[{"given":"C. Y.","family":"Ho","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sriwattanathamma","family":"Jen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700009334_ref003","doi-asserted-by":"crossref","unstructured":"3. Whitney D.E. , \u201cThe Mathematics of Coordinated Control of Prosthetic Arm and Manipulators\u201d Trans. ASME, J. of Dynamic System, Measurement and Control 303\u2013309 (12, 1972).","DOI":"10.1115\/1.3426611"},{"key":"S0263574700009334_ref002","volume-title":"Robot Manipulators: Mathematics, Programming and Control","author":"Paul","year":"1981"},{"key":"S0263574700009334_ref005","volume-title":"Theoretical Kinematics","author":"Bottema","year":"1979"},{"key":"S0263574700009334_ref004","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-48819-1"},{"key":"S0263574700009334_ref006","volume-title":"Generalized inverse of Matrices and Its Applications","author":"Rao","year":"1971"},{"key":"S0263574700009334_ref001","first-page":"335","article-title":"Solution of Kinematic Equations for Robot Manipulators","volume":"1","author":"Ho","year":"1982","journal-title":"Digital Systems for Industrial Automation"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700009334","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,22]],"date-time":"2019-05-22T05:09:30Z","timestamp":1558501770000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700009334\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1986,7]]},"references-count":6,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1986,7]]}},"alternative-id":["S0263574700009334"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700009334","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1986,7]]}}}