{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T23:26:12Z","timestamp":1773617172643,"version":"3.50.1"},"reference-count":24,"publisher":"Pleiades Publishing Ltd","issue":"3","license":[{"start":{"date-parts":[[2023,3,1]],"date-time":"2023-03-01T00:00:00Z","timestamp":1677628800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,3,1]],"date-time":"2023-03-01T00:00:00Z","timestamp":1677628800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Autom Remote Control"],"published-print":{"date-parts":[[2023,3]]},"DOI":"10.1134\/s0005117923030037","type":"journal-article","created":{"date-parts":[[2023,8,18]],"date-time":"2023-08-18T10:05:45Z","timestamp":1692353145000},"page":"281-293","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Inverse Kinematics of a 5-DOF Hybrid Manipulator"],"prefix":"10.1134","volume":"84","author":[{"given":"A. V.","family":"Antonov","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. S.","family":"Fomin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"137","published-online":{"date-parts":[[2023,8,18]]},"reference":[{"key":"2388_CR1","doi-asserted-by":"publisher","first-page":"399","DOI":"10.3103\/S1052618818050059","volume":"47","author":"R.F. Ganiev","year":"2018","unstructured":"Ganiev, R.F., Glazunov, V.A., and Filippov, G.S., Urgent Problems of Machine Science and Ways of Solving Them: Wave and Additive Technologies, the Machine Tool Industry, and Robot Surgery, Journal of Machinery Manufacture and Reliability, 2018, vol. 47, no. 5, pp. 399\u2013406. https:\/\/doi.org\/10.3103\/S1052618818050059","journal-title":"Journal of Machinery Manufacture and Reliability"},{"key":"2388_CR2","doi-asserted-by":"publisher","unstructured":"Wen, K., Harton, D., Lalibert\u00e9, T., and Gosselin, C., Kinematically Redundant (6+3)-dof Hybrid Parallel Robot with Large Orientational Workspace and Remotely Operated Gripper, Proceedings of the 2019 IEEE International Conference on Robotics and Automation, IEEE, 2019, pp. 1672\u20131678. https:\/\/doi.org\/10.1109\/ICRA.2019.8793772","DOI":"10.1109\/ICRA.2019.8793772"},{"key":"2388_CR3","doi-asserted-by":"publisher","first-page":"140","DOI":"10.1016\/j.rcim.2018.06.003","volume":"56","author":"Q. Liu","year":"2019","unstructured":"Liu, Q. and Huang, T., Inverse Kinematics of a 5-axis Hybrid Robot with Non-singular Tool Path Generation, Robotics and Computer-Integrated Manufacturing, 2019, vol. 56, pp. 140\u2013148. https:\/\/doi.org\/10.1016\/j.rcim.2018.06.003","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"2388_CR4","doi-asserted-by":"publisher","first-page":"567","DOI":"10.1017\/S0263574704000323","volume":"22","author":"G. Carbone","year":"2004","unstructured":"Carbone, G. and Ceccarelli, M., A Stiffness Analysis for a Hybrid Parallel-serial Manipulator, Robotica, 2004, vol. 22, no. 5, pp. 567\u2013576. https:\/\/doi.org\/10.1017\/S0263574704000323","journal-title":"Robotica"},{"key":"2388_CR5","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1016\/j.rcim.2017.09.002","volume":"50","author":"Y.-L. Lai","year":"2018","unstructured":"Lai, Y.-L., Liao, C.-C., and Chao, Z.-G., Inverse Kinematics for a Novel Hybrid Parallel\u2013serial Five-axis Machine Tool, Robotics and Computer-Integrated Manufacturing, 2018, vol. 50, pp. 63\u201379. https:\/\/doi.org\/10.1016\/j.rcim.2017.09.002","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"2388_CR6","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1016\/j.precisioneng.2017.01.006","volume":"49","author":"Y. Oba","year":"2017","unstructured":"Oba, Y. and Kakinuma, Y., Simultaneous Tool Posture and Polishing Force Control of Unknown Curved Surface Using Serial-parallel Mechanism Polishing Machine, Precision Engineering, 2017, vol. 49, pp. 24\u201332. https:\/\/doi.org\/10.1016\/j.precisioneng.2017.01.006","journal-title":"Precision Engineering"},{"key":"2388_CR7","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1115\/1.3153039","volume":"111","author":"K.J. Waldron","year":"1989","unstructured":"Waldron, K.J., Raghavan, M., and Roth, B., Kinematics of a Hybrid Series-parallel Manipulation System, Journal of Dynamic Systems, Measurement, and Control, 1989, vol. 111, no. 2, pp. 211\u2013221. https:\/\/doi.org\/10.1115\/1.3153039","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"key":"2388_CR8","doi-asserted-by":"publisher","first-page":"687","DOI":"10.1115\/1.2899268","volume":"116","author":"H.H. Cheng","year":"1994","unstructured":"Cheng, H.H., Real-time Manipulation of a Hybrid Serial-and-parallel-driven Redundant Industrial Manipulator, Journal of Dynamic Systems, Measurement, and Control, 1994, vol. 116, no. 4, pp. 687\u2013701. https:\/\/doi.org\/10.1115\/1.2899268","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"key":"2388_CR9","doi-asserted-by":"publisher","DOI":"10.1017\/9781316661239","volume-title":"Modern Robotics: Mechanics, Planning, and Control","author":"K.M. Lynch","year":"2017","unstructured":"Lynch, K.M. and Park, F.C., Modern Robotics: Mechanics, Planning, and Control, Cambridge: Cambridge University Press, 2017. https:\/\/doi.org\/10.1017\/9781316661239"},{"key":"2388_CR10","doi-asserted-by":"publisher","unstructured":"Tang, Z. and Payandeh, S., Design and Modeling of a Novel 6 Degree of Freedom Haptic Device, Proceedings of the 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator\u00a0Systems, IEEE, 2009, pp. 1941\u20131946. https:\/\/doi.org\/10.1109\/WHC.2009.4810891","DOI":"10.1109\/WHC.2009.4810891"},{"key":"2388_CR11","doi-asserted-by":"publisher","first-page":"105","DOI":"10.1080\/15397730903455344","volume":"38","author":"C. Yan","year":"2010","unstructured":"Yan, C., Gao, F., and Zhang, Y., Kinematic Modeling of a Serial-parallel Forging Manipulator with Application to Heavy-duty Manipulations, Mechanics Based Design of Structures and Machines, 2010, vol. 38, no. 1, pp. 105\u2013129. https:\/\/doi.org\/10.1080\/15397730903455344","journal-title":"Mechanics Based Design of Structures and Machines"},{"key":"2388_CR12","doi-asserted-by":"publisher","unstructured":"Sun, P., Li, Y.B., Wang, Z.S., Chen, K., Chen, B., Zeng, X., Zhao, J., and Yue, Y., Inverse Displacement Analysis\u00a0of a Novel Hybrid Humanoid Robotic Arm, Mechanism and Machine Theory, 2020, vol. 147, p. 103743. https:\/\/doi.org\/10.1016\/j.mechmachtheory.2019.103743","DOI":"10.1016\/j.mechmachtheory.2019.103743"},{"key":"2388_CR13","doi-asserted-by":"publisher","unstructured":"Yang, G., Chen, W., and Ho, E.H.L., Design and Kinematic Analysis of a Modular Hybrid Parallelserial Manipulator, Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, IEEE, 2002, vol. 1, pp. 45\u201350. https:\/\/doi.org\/10.1109\/ICARCV.2002.1234788","DOI":"10.1109\/ICARCV.2002.1234788"},{"key":"2388_CR14","doi-asserted-by":"publisher","unstructured":"Tang, C., Zhang, J., and Cheng, S., Kinematics Analysis for a Hybrid Robot in Minimally Invasive Surgery, Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics, IEEE, 2009, pp. 1941\u20131946. https:\/\/doi.org\/10.1109\/ROBIO.2009.5420534","DOI":"10.1109\/ROBIO.2009.5420534"},{"key":"2388_CR15","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1002\/(SICI)1097-4563(199903)16:3<137::AID-ROB1>3.0.CO;2-V","volume":"16","author":"M.K. Lee","year":"1999","unstructured":"Lee, M.K., Park, K.W., and Choi, B.O., Kinematic and Dynamic Models of Hybrid Robot Manipulator for Propeller Grinding, Journal of Robotic Systems, 1999, vol. 16, no. 3, pp. 137\u2013150. https:\/\/doi.org\/10.1002\/(SICI)1097-4563(199903)16:3<137::AID-ROB1>3.0.CO;2-V","journal-title":"Journal of Robotic Systems"},{"key":"2388_CR16","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1016\/j.rcim.2012.12.004","volume":"29","author":"D. Pisla","year":"2013","unstructured":"Pisla, D., Gherman, B., Vaida, C., Suciu, M., and Plitea, N., An Active Hybrid Parallel Robot for Minimally Invasive Surgery, Robotics and Computer-Integrated Manufacturing, 2013, vol. 29, no. 4, pp. 203\u2013221. https:\/\/doi.org\/10.1016\/j.rcim.2012.12.004","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"2388_CR17","doi-asserted-by":"publisher","unstructured":"Hu, B., Shi, Y., Xu, L., and Bai, P., Reconsideration of Terminal Constraint\/Mobility and Kinematics of 5-DOF Hybrid Manipulators Formed by One 2R1T PM and One RR SM, Mechanism and Machine Theory, 2020, vol. 149, p. 103837. https:\/\/doi.org\/10.1016\/j.mechmachtheory.2020.103837","DOI":"10.1016\/j.mechmachtheory.2020.103837"},{"key":"2388_CR18","doi-asserted-by":"publisher","unstructured":"Ye, H., Wang, D., Wu, J., Yue, Y., and Zhou, Y., Forward and Inverse Kinematics of a 5-DOF Hybrid Robot for Composite Material Machining, Robotics and Computer-Integrated Manufacturing, 2020, vol. 65, p. 101961. https:\/\/doi.org\/10.1016\/j.rcim.2020.101961","DOI":"10.1016\/j.rcim.2020.101961"},{"key":"2388_CR19","doi-asserted-by":"publisher","unstructured":"L\u0491opez-Custodio, P.C., Fu, R., Dai, J.S., and Jin, Y., Compliance Model of Exechon Manipulators with an Offset Wrist, Mechanism and Machine Theory, 2022, vol. 167, p. 104558. https:\/\/doi.org\/10.1016\/j.mechmachtheory.2021.104558","DOI":"10.1016\/j.mechmachtheory.2021.104558"},{"key":"2388_CR20","doi-asserted-by":"publisher","first-page":"2963","DOI":"10.1177\/1729881421992963","volume":"18","author":"A. Antonov","year":"2021","unstructured":"Antonov, A., Fomin, A., Glazunov, V., Kiselev, S., and Carbone, G., Inverse and Forward Kinematics and Workspace Analysis of a Novel 5-DOF (3T2R) Parallel-serial (Hybrid) Manipulator, International Journal of Advanced Robotic Systems, 2021, vol. 18, no. 2, p. 2963. https:\/\/doi.org\/10.1177\/1729881421992963","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"2388_CR21","doi-asserted-by":"publisher","unstructured":"Gosselin, C. and Schreiber, L.-T., Redundancy in Parallel Mechanisms: A Review, Applied Mechanics Reviews, 2018, vol. 70, no. 1, p. 010802. https:\/\/doi.org\/10.1115\/1.4038931","DOI":"10.1115\/1.4038931"},{"key":"2388_CR22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_2","volume-title":"Kinematics, Springer Handbook of Robotics","author":"K.J. Waldron","year":"2016","unstructured":"Waldron, K.J. and Schmiedeler, J., Kinematics, Springer Handbook of Robotics, Springer, 2016, pp. 11\u201336. https:\/\/doi.org\/10.1007\/978-3-319-32552-1_2"},{"key":"2388_CR23","doi-asserted-by":"publisher","first-page":"166","DOI":"10.1016\/j.mechmachtheory.2016.09.004","volume":"107","author":"S. Liu","year":"2017","unstructured":"Liu, S., Qiu, Z., and Zhang, X., Singularity and Path-planning with the Working Mode Conversion of a 3-DOF 3-RRR Planar Parallel Manipulator, Mechanism and Machine Theory, 2017, vol. 107, pp. 166\u2013182. https:\/\/doi.org\/10.1016\/j.mechmachtheory.2016.09.004","journal-title":"Mechanism and Machine Theory"},{"key":"2388_CR24","doi-asserted-by":"publisher","unstructured":"Murray, R.M., Li, Z., and Sastry, S.S., A Mathematical Introduction to Robotic Manipulation, Boca Raton: CRC Press, 1994. https:\/\/doi.org\/10.1201\/9781315136370","DOI":"10.1201\/9781315136370"}],"updated-by":[{"DOI":"10.1134\/s0005117923070111","type":"erratum","label":"Erratum","source":"publisher","updated":{"date-parts":[[2023,10,1]],"date-time":"2023-10-01T00:00:00Z","timestamp":1696118400000}}],"container-title":["Automation and Remote Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1134\/S0005117923030037.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1134\/S0005117923030037","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1134\/S0005117923030037.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T22:36:22Z","timestamp":1773614182000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1134\/S0005117923030037"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,3]]},"references-count":24,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,3]]}},"alternative-id":["2388"],"URL":"https:\/\/doi.org\/10.1134\/s0005117923030037","relation":{},"ISSN":["0005-1179","1608-3032"],"issn-type":[{"value":"0005-1179","type":"print"},{"value":"1608-3032","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,3]]},"assertion":[{"value":"22 August 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 October 2022","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 October 2022","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 August 2023","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}