{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T13:32:17Z","timestamp":1649165537405},"reference-count":14,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2012,8,9]],"date-time":"2012-08-09T00:00:00Z","timestamp":1344470400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, Clifford Algebra is used to model and facilitate solving the inverse kinematic problem for robots with <jats:italic>only<\/jats:italic> two consecutive parallel axes. It is shown that when a solution exists, it is usually the case that one of the angles of rotation can be arbitrarily chosen from a union of intervals. The remaining angles are then uniquely determined. Of course, there are cases when no solution exists, such as when the object is out of reach. But typically, when solutions exist, there are infinitely many sets of solutions.<\/jats:p>","DOI":"10.1017\/s0263574712000380","type":"journal-article","created":{"date-parts":[[2012,8,9]],"date-time":"2012-08-09T14:35:41Z","timestamp":1344522941000},"page":"417-422","source":"Crossref","is-referenced-by-count":3,"title":["Exact solution of inverse kinematic problem of 6R serial manipulators using Clifford Algebra"],"prefix":"10.1017","volume":"31","author":[{"given":"Eriny W.","family":"Azmy","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2012,8,9]]},"reference":[{"key":"S0263574712000380_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799002568"},{"key":"S0263574712000380_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0159-5"},{"key":"S0263574712000380_ref11","first-page":"66","article-title":"A new and efficient algorithm for inverse kinematics of a general serial 6R manipulator","volume":"42","author":"Manfred","year":"2006","journal-title":"Mech. Mach. Theory"},{"key":"S0263574712000380_ref9","doi-asserted-by":"publisher","DOI":"10.1134\/S0005117910100218"},{"key":"S0263574712000380_ref1","unstructured":"D. Pieper , \u201cThe Kinematics of Manipulators Under Computer Control,\u201d Ph.D. thesis (Stanford University, Stanford, CA, 1968)."},{"key":"S0263574712000380_ref3","volume-title":"Geometric Fundamentals of Robotics","author":"Selig","year":"2005"},{"key":"S0263574712000380_ref5","doi-asserted-by":"publisher","DOI":"10.1002\/1097-4563(200009)17:9<495::AID-ROB4>3.0.CO;2-S"},{"key":"S0263574712000380_ref7","first-page":"26","volume-title":"Proceedings of IEEE","author":"Sariyildiz","year":"2009"},{"key":"S0263574712000380_ref8","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040605"},{"key":"S0263574712000380_ref10","volume-title":"Proceedings of the 12th IFToMM World Congress","author":"Pfurner","year":"2007"},{"key":"S0263574712000380_ref12","volume-title":"Numerical Methods for Inverse Kinematics","author":"Joubert","year":"2008"},{"key":"S0263574712000380_ref13","volume-title":"Kinematic Analysis of Robot Manipulators","author":"Duffy","year":"1998"},{"key":"S0263574712000380_ref14","volume-title":"Introductory Robotics","author":"Selig","year":"1992"},{"key":"S0263574712000380_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574705001657"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574712000380","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,23]],"date-time":"2019-04-23T22:03:27Z","timestamp":1556057007000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574712000380\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,8,9]]},"references-count":14,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2013,5]]}},"alternative-id":["S0263574712000380"],"URL":"https:\/\/doi.org\/10.1017\/s0263574712000380","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,8,9]]}}}