{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,25]],"date-time":"2025-09-25T17:15:19Z","timestamp":1758820519802},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2002,9,6]],"date-time":"2002-09-06T00:00:00Z","timestamp":1031270400000},"content-version":"unspecified","delay-in-days":5,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2002,9]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>This paper proposes a new orientation representation of planar manipulators by resorting to polar coordinates. Connecting the end-effector point to the first joint of a manipulator with a virtual adjustable link, the length of the adjustable link corresponds to a workspace point and is related to the orientation of the end effector link by a virtual angle in the form of a transcendental equation. Plotting this link length against the virtual angle in polar coordinates, the orientation of a manipulator can be represented in a compact form, and the range of partial dexterity can be identified. The characteristics of the new representation is hence revealed and related to the assessment of an orientation capability of a manipulator. Based on this representation, a desirable task can be presented and a manipulator can be synthesised with the required orientation.<\/jats:p>","DOI":"10.1017\/s0263574702004289","type":"journal-article","created":{"date-parts":[[2002,9,20]],"date-time":"2002-09-20T12:53:08Z","timestamp":1032526388000},"page":"529-535","source":"Crossref","is-referenced-by-count":6,"title":["Orientation capability representation and application to manipulator analysis and synthesis"],"prefix":"10.1017","volume":"20","author":[{"given":"Paresh","family":"Shah","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian S.","family":"Dai","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2002,9,6]]},"reference":[{"key":"S0263574702004289_ref099","volume-title":"Mechanisms and Dynamics of Machinery","author":"Mabie","year":"1986"},{"key":"S0263574702004289_ref087","first-page":"155","volume":"15","author":"Lu","year":"1988","journal-title":"20th ASME Biennial Mechanisms Conference"},{"key":"S0263574702004289_ref094","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919333"},{"key":"S0263574702004289_ref091","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919371"},{"key":"S0263574702004289_ref089","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(98)00024-X"},{"key":"S0263574702004289_ref084","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258786"},{"key":"S0263574702004289_ref085","doi-asserted-by":"publisher","DOI":"10.1115\/1.2917042"},{"key":"S0263574702004289_ref086","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1995_209_153_02"},{"key":"S0263574702004289_ref088","doi-asserted-by":"crossref","first-page":"262","DOI":"10.1115\/1.2826967","volume":"120","author":"Davidson","year":"1998","journal-title":"ASME Journal of Mechanical Design"},{"key":"S0263574702004289_ref097","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919384"},{"key":"S0263574702004289_ref090","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(93)90026-R"},{"key":"S0263574702004289_ref093","first-page":"417","volume":"5","author":"Woo","year":"1965","journal-title":"Journal of Mechanism"},{"key":"S0263574702004289_ref095","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826703"},{"key":"S0263574702004289_ref096","doi-asserted-by":"publisher","DOI":"10.1243\/0954406021524990"},{"key":"S0263574702004289_ref098","doi-asserted-by":"crossref","unstructured":"Dai J. 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Rees , \u201cNull space construction using cofactors from a screw algebra context\u201d (To appear in the Proceedings of the Royal Society: Mathematical, Physical and Engineering Sciences, 2002).","DOI":"10.1098\/rspa.2001.0949"},{"key":"S0263574702004289_ref100","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258770"},{"key":"S0263574702004289_ref083","unstructured":"Kumar A. and Waldron K. , \u201cThe Dexterous Workspace\u201d, ASME paper No. 80-DET (1980)."},{"key":"S0263574702004289_ref092","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258765"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574702004289","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,3,7]],"date-time":"2020-03-07T22:13:24Z","timestamp":1583619204000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574702004289\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,9]]},"references-count":18,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2002,9]]}},"alternative-id":["S0263574702004289"],"URL":"https:\/\/doi.org\/10.1017\/s0263574702004289","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,9]]}}}