{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,3]],"date-time":"2022-04-03T01:21:28Z","timestamp":1648948888515},"reference-count":8,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5546,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:p>Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate DenavitHartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation.<\/jats:p><jats:p>To reduce the number of closed-form inverse-kinematics solutions required for a broad class of serial robots, additional methods account for differences in robot zero state, base frame location, and joint polarity. Further generalization results from using joint frame decoupling to map lower degree-of-freedom robots into the inverse-kinematics solutions of higher degree-offreedom robots.<\/jats:p>","DOI":"10.1017\/s0263574700018178","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:14:15Z","timestamp":1236690855000},"page":"45-53","source":"Crossref","is-referenced-by-count":1,"title":["Automated inverse-kinematics for robot off-line programming"],"prefix":"10.1017","volume":"12","author":[{"given":"W.Edward","family":"Red","sequence":"first","affiliation":[]},{"given":"Shao-Wei","family":"Gongt","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018178_ref003","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140699"},{"key":"S0263574700018178_ref002","doi-asserted-by":"crossref","unstructured":"2. Goldenberg A.A. , Benhabib B. and Fenton R.G. , \u201cA Complete Generalized Solution to the Inverse-kinematics of Robots\u201d IEEE J. Robotics and Automation RA-1, No. 1, 14\u201320 (03, 1985).","DOI":"10.1109\/JRA.1985.1086995"},{"key":"S0263574700018178_ref001","unstructured":"1. Pieper D.L. , \u201cThe Kinematics of Manipulators under Computer Control\u201d Ph.D. Thesis (Stanford University, 1968)."},{"key":"S0263574700018178_ref005","unstructured":"5. Litvin F.L. , Castelli V. Parenti and Phillips R. H. , \u201cManipulators: Execution of Prescribed Trajectories, Special Link Positions and Versions of Assembly\u201d Mechanisms and Machine Theory No. 107, 173\u2013185 (1986)."},{"key":"S0263574700018178_ref007","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500202"},{"key":"S0263574700018178_ref008","unstructured":"8. Gong Shoo-Wei , \u201cGeneralized Inverse-Kinematics for Robot Off-Line Programming\u201d M.S. Thesis (Brigham Young University, 06, 1990)."},{"key":"S0263574700018178_ref006","first-page":"1135","article-title":"A Systematic Approach for Solving the Inverse Kinematics Problem of Robot Manipulators","volume":"2","author":"Hiller","year":"1987","journal-title":"Proceedings of the 7th World Congress on the Theory of Machines and Mechanisms"},{"key":"S0263574700018178_ref004","volume-title":"Introduction to Robotics, Mechanics and Control","author":"Craig","year":"1989"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700018178","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,15]],"date-time":"2019-05-15T20:08:56Z","timestamp":1557950936000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700018178\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":8,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["S0263574700018178"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700018178","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}