{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T19:21:23Z","timestamp":1648840883309},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4877,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,11]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>In the computational kinematics of robotic manipulators, accuracy and sensitivity of the results are highly dependent on the choice of the coordinate system, the metric system, and the appropriateness of performance evaluation measure. In this paper, these undesired sensitivities are examined and suitable performance criteria are developed to eliminate the coordinate system and metric system dependencies, and adverse numerical effects associated with them. Also a new formulation for the Jacobian matrix, joint velocities, and hand velocities, based on the Euler angles, is developed. This formulation, further improves numerical accuracy of the computations. Numerical experiments are included.<\/jats:p>","DOI":"10.1017\/s0263574700018658","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:12:28Z","timestamp":1236690748000},"page":"575-581","source":"Crossref","is-referenced-by-count":0,"title":["On the sensitivity analysis of the computational kinematics of the robotic manipulators"],"prefix":"10.1017","volume":"13","author":[{"given":"Siamak","family":"Vahidi","sequence":"first","affiliation":[]},{"given":"Kazem","family":"Kazerounian","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018658_ref013","volume-title":"Numerical Analysis, Third Edition","author":"Burden","year":"1985"},{"key":"S0263574700018658_ref002","doi-asserted-by":"publisher","DOI":"10.1115\/1.3439277"},{"key":"S0263574700018658_ref014","volume-title":"Advanced Dynamics for Engineers","author":"Torby","year":"1984"},{"key":"S0263574700018658_ref009","volume-title":"An Introduction to Theoretical Kinematics","author":"McCarthy","year":"1990"},{"key":"S0263574700018658_ref010","doi-asserted-by":"crossref","unstructured":"10. Gupta K.C. and Kazerounian K. , \u201cAn Investigation of Time Efficiency and Near Singular Behavior of Numerical Robot Kinematics\u201d Mechanisms and Machine Theory 22(4), 371\u2013381 (1987).","DOI":"10.1016\/0094-114X(87)90026-7"},{"key":"S0263574700018658_ref006","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400405"},{"key":"S0263574700018658_ref001","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"key":"#cr-split#-S0263574700018658_ref003.1","unstructured":"3. Gupta K.C. , \"A Note on the Position Analysis of Manipulators\" Proc. of the Seventh Applied Mechanism Conference, Kansas City, Missoury (1981)pp.3.1-3.33"},{"key":"#cr-split#-S0263574700018658_ref003.2","unstructured":"also Mechanisms and Machine Theory 19(1), 5-8 (1984)."},{"key":"S0263574700018658_ref004","first-page":"102","article-title":"\u201cA Generalized Solution to the Inverse Kinematics of Robotic Manipulators\u201d","volume":"107","author":"Goldernberg","year":"1985","journal-title":"Trans. ASME J. of Dynamic Systems, Measurement, and Control"},{"key":"S0263574700018658_ref005","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258709"},{"key":"S0263574700018658_ref007","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258791"},{"key":"S0263574700018658_ref008","first-page":"161","article-title":"\u201cDetermination of Manipulator Kinematic Characteristics: A Probabilistic Approach\u201d","volume":"7","author":"Rastegar","year":"1992","journal-title":"Int. J. Robotics and Automation"},{"key":"S0263574700018658_ref011","volume-title":"Kinematics and Mechanism Design","author":"Suh","year":"1983"},{"key":"S0263574700018658_ref016","unstructured":"16. Vahidi S. . \u201cComputational Kinematics of Multi-Arm Manipulators\u201d Ph.D. Dissertation (University of Connec-ticut. Storrs: CT. 1992)."},{"key":"S0263574700018658_ref017","volume-title":"Introduction to Robotic Mechanisms and Control","author":"Craig","year":"1986"},{"key":"S0263574700018658_ref012","unstructured":"12. Kazerounian K. , \u201cManipulation and Simulation of General Robots Using Zero-Position Description\u201d Ph.D Dissertation (University of Illinois at Chicago, 1984)."},{"key":"S0263574700018658_ref015","volume-title":"Matrices for Engineers","author":"Kraus","year":"1987"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700018658","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,13]],"date-time":"2019-05-13T20:24:35Z","timestamp":1557779075000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700018658\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,11]]},"references-count":18,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1995,11]]}},"alternative-id":["S0263574700018658"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700018658","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1995,11]]}}}