{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T11:25:11Z","timestamp":1778757911593,"version":"3.51.4"},"reference-count":11,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1989,10,1]],"date-time":"1989-10-01T00:00:00Z","timestamp":623203200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1989,10]]},"abstract":"<jats:p>A solution search algorithm based on a one-dimensional numerical approach to the inverse kinematic problem (pre sented in an earlier paper) led to the discovery of a six-DOF manipulator able to position and orient its end-effector in 16 distinct configurations for a given end-effector pose (position and orientation). This paper discusses the consequences of such a discovery and presents a description of the manipula tor, the end-effector pose, and the 16 kinematic solutions.<\/jats:p>","DOI":"10.1177\/027836498900800507","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"75-79","source":"Crossref","is-referenced-by-count":34,"title":["A Robot Manipulator With 16 Real Inverse Kinematic Solution Sets"],"prefix":"10.1177","volume":"8","author":[{"given":"Rachid","family":"Manseur","sequence":"first","affiliation":[{"name":"UF\/UNF Electrical Engineering Dept. University of North Florida Jacksonville, Florida 32216"}]},{"given":"Keith L.","family":"Doty","sequence":"additional","affiliation":[{"name":"Machine Intelligence Laboratory Dept. of Electrical Engineering University of Florida Gainesville, Florida 32611"}]}],"member":"179","published-online":{"date-parts":[[1989,10,1]]},"reference":[{"key":"atypb1","volume-title":"Introduction to Robotics Mechanics and Control","author":"Craig, J.J.","year":"1986"},{"key":"atypb2","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1115\/1.4011045","volume":"77","author":"Denavit, J.","year":"1955","journal-title":"J. App. Mech."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600408"},{"key":"atypb4","volume-title":"Machine intelligence laboratory report MIL(10.86.1)","author":"Doty, K.L.","year":"1986"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(80)90001-4"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(88)90107-3"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700304"},{"key":"atypb8","volume-title":"Robot manipulators: Mathematics, programming, and control","author":"Paul, R.P.","year":"1981"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(80)90048-8"},{"key":"atypb10","author":"Renaud, M.","year":"1980","journal-title":"Sciences"},{"key":"atypb11","volume-title":"ASME Design Engineering Technical Conference","author":"Tsai, L.W."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498900800507","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498900800507","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:19Z","timestamp":1777457899000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836498900800507"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,10]]},"references-count":11,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1989,10]]}},"alternative-id":["10.1177\/027836498900800507"],"URL":"https:\/\/doi.org\/10.1177\/027836498900800507","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,10]]}}}