{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:47:42Z","timestamp":1777715262032,"version":"3.51.4"},"reference-count":9,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[1993,4,1]],"date-time":"1993-04-01T00:00:00Z","timestamp":733622400000},"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":[[1993,4]]},"abstract":"<jats:p>This article introduces an invariant measure to quantify the motion of a rigid body attached to the end effector of a serial manipulator. The measure arises as a natural consequence of the properties of the Euclidean group. It is invariant with respect to the position and orientation of the fixed and moving coordinate systems used to parameterize the motion of the manipulator. It is independent of the type and number of joints in the chain and the dimensions used to parameterize the chain. The singularities of the manipulator are also predicted by the measure. Finally, it is shown that, when applied to redundant manipulators, the measure quantifies the importance of each joint of the manipulator.<\/jats:p>","DOI":"10.1177\/027836499301200203","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"132-145","source":"Crossref","is-referenced-by-count":15,"title":["End-Effector Motion Capabilities of Serial Manipulators"],"prefix":"10.1177","volume":"12","author":[{"given":"Udai","family":"Basavaraj","sequence":"first","affiliation":[{"name":"Department of Mathematics"}]},{"given":"Joseph","family":"Duffy","sequence":"additional","affiliation":[{"name":"Center for Intelligent Machines and Robotics University of Florida Gainesville, Florida 32611"}]}],"member":"179","published-online":{"date-parts":[[1993,4,1]]},"reference":[{"key":"atypb1","volume-title":"An Introduction to Differentiable Manifolds and Riemannian Geometry","author":"Boothby, W.M.","year":"1975"},{"key":"atypb2","volume-title":"Differential Geometry of Curves and Surfaces","author":"do Carmo, M.P.","year":"1976"},{"key":"atypb3","volume-title":"Representations of the Rotation and Lorentz Groups and their Applications","author":"Gel'fand, I.","year":"1963"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/BF01303040"},{"key":"atypb5","volume-title":"Space Kinematics and Lie Groups","author":"Karger, A.","year":"1985"},{"key":"atypb6","volume-title":"Geometrical analysis of compliant mechanisms in robotics. Ph.D. thesis","author":"Loncaric, J.","year":"1985"},{"key":"atypb7","volume-title":"Semi-Reimannian Geometry","author":"O'Neill, B.","year":"1983"},{"key":"atypb8","volume-title":"Representations of the Euclidean group and its applications to the kinematics of spatial chains. Ph.D. thesis","author":"Rico, J.M.","year":"1988"},{"key":"atypb9","author":"Vilenkin, N.","year":"1968","journal-title":"American Mathematical Society"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499301200203","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499301200203","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:14:39Z","timestamp":1777457679000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499301200203"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,4]]},"references-count":9,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1993,4]]}},"alternative-id":["10.1177\/027836499301200203"],"URL":"https:\/\/doi.org\/10.1177\/027836499301200203","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1993,4]]}}}