{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T00:53:56Z","timestamp":1783385636178,"version":"3.54.6"},"reference-count":86,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2018,6,1]],"date-time":"2018-06-01T00:00:00Z","timestamp":1527811200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51375413"],"award-info":[{"award-number":["51375413"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Hong Kong University of Science and Technology including SRI"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2018,6]]},"DOI":"10.1109\/tro.2018.2813377","type":"journal-article","created":{"date-parts":[[2018,5,7]],"date-time":"2018-05-07T18:38:17Z","timestamp":1525718297000},"page":"716-735","source":"Crossref","is-referenced-by-count":24,"title":["Symmetric Subspace Motion Generators"],"prefix":"10.1109","volume":"34","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5846-9405","authenticated-orcid":false,"given":"Yuanqing","family":"Wu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1528-4304","authenticated-orcid":false,"given":"Marco","family":"Carricato","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref73","doi-asserted-by":"crossref","first-page":"1489","DOI":"10.1007\/s00170-012-4433-4","article-title":"Robot machining: Recent development and future research issues","volume":"66","author":"chen","year":"2013","journal-title":"Int J Adv Manuf Technol"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/70.954755"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-60867-9_45"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"ref76","article-title":"Design and development of devices for robotized needle insertion procedures","author":"kumar","year":"2014"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1115\/1.4006541"},{"key":"ref74","author":"bottema","year":"1979","journal-title":"Theoretical Kinematics"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1115\/1.3438177"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/70.704225"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.06.006"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1115\/1.4035989"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2014.02.007"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.898995"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824650"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2211492"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2226381"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905053688"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022001005"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2013.11.008"},{"key":"ref34","author":"kong","year":"2007","journal-title":"Type Synthesis of Parallel Mechanisms"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-51532-8_24"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351393"},{"key":"ref61","first-page":"446","article-title":"Forward displacement analysis of a 2-DOF RR-RRR-RRR spherical parallel manipulator","author":"kong","year":"0","journal-title":"Proc 2010 IEEE Int Conf Mechatronic and Embedded Syst Appl"},{"key":"ref63","first-page":"163","article-title":"New high-angulation omni-directional sensor mount","volume":"4821","author":"rosheim","year":"2002","journal-title":"Proc SPIE—Int Soc Opt Eng"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2019147"},{"key":"ref64","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1109\/TRO.2004.835456","article-title":"Generalized Stewart–Gough platforms and their direct kinematics","volume":"21","author":"gao","year":"2005","journal-title":"IEEE Trans Robot"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915453"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878975"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2239305"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2178151"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2516025"},{"key":"ref68","article-title":"Exponential pairs of subspaces of $\\mathfrak {se}(3)$","author":"l\u00f6we","year":"0"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/3516.951359"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800508"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(98)00051-2"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2006.887902"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/70.478427"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2010.10.001"},{"key":"ref24","first-page":"1","article-title":"An elephant's trunk-inspired robotic arm-trajectory determination and control","author":"behrens","year":"0","journal-title":"Proc of the 7th German Conf on Robotics"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-017-0657-5_32"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4020-9485-9_24"},{"key":"ref25","doi-asserted-by":"crossref","DOI":"10.1115\/1.4036579","article-title":"Screw-based modeling of soft manipulators with tendon and fluidic actuation","volume":"9","author":"renda","year":"2017","journal-title":"J Mech Robot"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.819597"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1115\/1.1637662"},{"key":"ref59","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1515\/advgeom-2016-0015","article-title":"Symmetric subspaces of $\\mathrm{SE}(3)$","volume":"16","author":"l\u00f6we","year":"2016","journal-title":"Advances in Geometry"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.12.004"},{"key":"ref57","author":"hunt","year":"1978","journal-title":"Kinematic Geometry of Mechanisms"},{"key":"ref56","first-page":"1","article-title":"Interpolation on symmetric spaces via the generalized polar decomposition","author":"gawlik","year":"2017"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2426471"},{"key":"ref54","first-page":"171","article-title":"Advantages of the modified Euler angles in the design and control of PKMs","author":"bonev","year":"0","journal-title":"Proc 2002 Parallel Kinematic Machines Int Conf"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041562"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.820853"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(00)00032-X"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2013.12.010"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1115\/1.3211025"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.09.020"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2522442"},{"key":"ref14","volume":"1","author":"loos","year":"1969","journal-title":"Symmetric Spaces"},{"key":"ref15","author":"berger","year":"2009","journal-title":"Geometry I"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1007\/s11517-007-0160-7"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s10543-014-0473-5"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000016867.17664.b1"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-56802-7_31"},{"key":"ref84","doi-asserted-by":"crossref","DOI":"10.1093\/oso\/9780198562450.001.0001","author":"davidson","year":"2004","journal-title":"Robots and Screw Theory Applications of Kinematics and Statics to Robotics"},{"key":"ref18","volume":"2","author":"kobayashi","year":"1969","journal-title":"Foundations of Differential Geometry"},{"key":"ref83","author":"murray","year":"1994","journal-title":"A Mathematical Introduction to Robotic Manipulation"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/0042-6989(90)90131-4"},{"key":"ref80","author":"neumann","year":"2013","journal-title":"Kinesiology of the musculoskeletal system Foundations for physical rehabilitation"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.034"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/9.90228"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2011412"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700007669"},{"key":"ref85","volume":"2034","author":"bonfiglioli","year":"2011","journal-title":"Topics in Noncommutative Algebra The Theorem of Campbell Baker Hausdorff and Dynkin"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.736771"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1016\/j.laa.2003.09.010"},{"key":"ref7","first-page":"82","article-title":"A group theoretic approach to assembly planning","volume":"11","author":"popplestone","year":"1990","journal-title":"AI Mag"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1177\/027836402128964657"},{"key":"ref9","author":"siciliano","year":"2010","journal-title":"Robotics Modelling Planning and Control"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1177\/027836402760475360"},{"key":"ref45","doi-asserted-by":"crossref","DOI":"10.1115\/1.4004891","article-title":"Quotient kinematics machines: Concept, analysis, and synthesis","volume":"3","author":"wu","year":"2011","journal-title":"J Mech Robot"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1177\/027836402760475342"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904044077"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000036837.76476.10"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2593042"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.1991.240575"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1137\/16M1091332"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/8375153\/08355706.pdf?arnumber=8355706","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,7,6]],"date-time":"2024-07-06T15:47:54Z","timestamp":1720280874000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8355706\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,6]]},"references-count":86,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/tro.2018.2813377","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,6]]}}}