{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:53:20Z","timestamp":1777715600341,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1998,5,1]],"date-time":"1998-05-01T00:00:00Z","timestamp":893980800000},"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":[[1998,5]]},"abstract":"<jats:p>The kinematic mapping x = f(\u03b8) is generally many to one. For nonredundant manipulators, this means that there are a finite num ber of configurations (joint angles) that will place the end-effector at a target location in the workspace. These correspond to pos tures of the manipulator, and each configuration lies on a specific solution branch. It is shown that for certain classes of revolute joint regional manipulators (those with no joint limits and having almost everywhere a constant number of inverse solutions in the workspace), the input-output data can be analyzed by clustering methods in order to determine the number and location of the so lution branches. As a practical consequence, the inverse kinematic mapping can be directly approximated by applying neural network or other learning-based methods to each branch separately.<\/jats:p>","DOI":"10.1177\/027836499801700506","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"547-560","source":"Crossref","is-referenced-by-count":1,"title":["Learning Global Properties of Nonredundant Kinematic Mappings"],"prefix":"10.1177","volume":"17","author":[{"given":"David","family":"DeMers","sequence":"first","affiliation":[{"name":"Prediction Company Santa Fe, NM 87501, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kenneth","family":"Kreutz-Delgado","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering University of California, San Diego La Jolla, CA 92093, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1998,5,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/BF03023989"},{"key":"atypb2","author":"Barhen, J.","year":"1989","journal-title":"IEEE Computer"},{"key":"atypb3","volume-title":"Contribution a la modelisation geometrique des robots manipulateurs, application a la conception assistee par ordinateur","author":"Borrel, P.","year":"1986"},{"key":"atypb4","volume-title":"Kinematics and design of redundant robot manipulators","author":"Burdick, J.","year":"1988"},{"key":"atypb5","volume-title":"Learning to invert many-to-one mappings","author":"DeMers, D.E.","year":"1993"},{"key":"atypb6","unstructured":"DeMers, D.E., and Kreutz-Delago, K.K. 1992a. Learning global direct inverse kinematicss. Advances in Neural Information Processing Systems 4, ed. J. E. Moody et al. San Mateo, CA: Morgan Kaufmann, pp. 589-594."},{"key":"atypb7","doi-asserted-by":"crossref","unstructured":"DeMers, D.E., and Kreutz-Delgado, K.K. 1992b. Learning global topological properties of robot kinematic mappings for neural network based configuration control. Neural Networks for Robotics, ed. K. Goldberg, pp. 3-17.","DOI":"10.1007\/978-1-4615-3180-7_1"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/72.478391"},{"key":"atypb9","volume-title":"Pattern Classification and Scene Analysis","author":"Duda, R.O.","year":"1973"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(87)90011-5"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1207\/s15516709cog1603_1"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(87)90010-3"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087798"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1126\/science.3344437"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1016\/0893-6080(91)90001-L"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/72.80212"},{"key":"atypb17","volume-title":"The kinematics of manipulators under computer control","author":"Pieper, D.L.","year":"1968"},{"key":"atypb18","author":"Raghavan, M.","year":"1989","journal-title":"Proc. 5th Int. Symp. Robotics Research"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1016\/0893-6080(89)90001-4"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258711"},{"key":"atypb21","volume-title":"New results on the kinematics of robots: Generalizations of the aspects and classification of robots geometry. Technical Report 91.21","author":"Wenger, P.","year":"1991"},{"key":"atypb22","unstructured":"Wenger, P. 1992. On the kinematics of manipulators with general geometry: Application to the feasibility analysis of continuous trajectories. Robotics and Manufacturing, vol. 4, ed. M. Jamshidi et al. New York: ASME Press, pp. 15-20."},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1109\/T-C.1971.223083"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499801700506","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499801700506","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:37Z","timestamp":1777457737000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499801700506"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1998,5]]},"references-count":23,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1998,5]]}},"alternative-id":["10.1177\/027836499801700506"],"URL":"https:\/\/doi.org\/10.1177\/027836499801700506","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1998,5]]}}}