FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4200116509> ?p ?o ?g. }

• W4200116509 abstract "Abstract This article presents a numerically stable algorithm for analytic inverse kinematics of 7-DoF S-R-S manipulators with joint limit avoidance. The arm angle is used to represent the self-motion manifold within a global arm configuration. The joint limits are analytically mapped to the arm angle space for joint limit avoidance. To profile the relation between the joint angle and arm angle, it is critical to characterize the singular arm angle for each joint. In the-state-of-the art methods, the existence of the singular arm angle is triggered by comparing a discriminant with zero given a threshold. This leads to numerical issues since the threshold is inconsistent among different target poses, leading to incorrect range of the arm angle. These issues are overcome by associating indeterminate joint angles of tangent joints with angles of 0 or ±π of cosine joints, rather than using an independent threshold for each joint. The closed-form algorithm in c++ code to perform numerically stable inverse kinematics of 7-DoF S-R-S manipulators with global arm configuration control and joint limit avoidance is also given." @default.
• W4200116509 created "2021-12-31" @default.
• W4200116509 creator A5011366986 @default.
• W4200116509 creator A5035230648 @default.
• W4200116509 creator A5040445618 @default.
• W4200116509 creator A5053893227 @default.
• W4200116509 creator A5056607422 @default.
• W4200116509 date "2022-02-18" @default.
• W4200116509 modified "2023-10-02" @default.
• W4200116509 title "A Numerically Stable Algorithm for Analytic Inverse Kinematics of 7-Degrees-of-Freedom Spherical-Rotational-Spherical Manipulators With Joint Limit Avoidance" @default.
• W4200116509 cites W1972048784 @default.
• W4200116509 cites W1972931969 @default.
• W4200116509 cites W1994875265 @default.
• W4200116509 cites W2008349322 @default.
• W4200116509 cites W2032575496 @default.
• W4200116509 cites W2058544403 @default.
• W4200116509 cites W2070133526 @default.
• W4200116509 cites W2073501934 @default.
• W4200116509 cites W2075171938 @default.
• W4200116509 cites W2110058990 @default.
• W4200116509 cites W2117758942 @default.
• W4200116509 cites W2119403459 @default.
• W4200116509 cites W2125150316 @default.
• W4200116509 cites W2135775455 @default.
• W4200116509 cites W2266847535 @default.
• W4200116509 cites W2406254431 @default.
• W4200116509 cites W2671436184 @default.
• W4200116509 cites W2767708052 @default.
• W4200116509 cites W2781105378 @default.
• W4200116509 cites W2910577105 @default.
• W4200116509 cites W3107603356 @default.
• W4200116509 cites W421320838 @default.
• W4200116509 doi "https://doi.org/10.1115/1.4053375" @default.
• W4200116509 hasPublicationYear "2022" @default.
• W4200116509 type Work @default.
• W4200116509 citedByCount "3" @default.
• W4200116509 countsByYear W42001165092022 @default.
• W4200116509 countsByYear W42001165092023 @default.
• W4200116509 crossrefType "journal-article" @default.
• W4200116509 hasAuthorship W4200116509A5011366986 @default.
• W4200116509 hasAuthorship W4200116509A5035230648 @default.
• W4200116509 hasAuthorship W4200116509A5040445618 @default.
• W4200116509 hasAuthorship W4200116509A5053893227 @default.
• W4200116509 hasAuthorship W4200116509A5056607422 @default.
• W4200116509 hasConcept C121332964 @default.
• W4200116509 hasConcept C127413603 @default.
• W4200116509 hasConcept C134306372 @default.
• W4200116509 hasConcept C138187205 @default.
• W4200116509 hasConcept C150415221 @default.
• W4200116509 hasConcept C151201525 @default.
• W4200116509 hasConcept C154945302 @default.
• W4200116509 hasConcept C170154142 @default.
• W4200116509 hasConcept C17816587 @default.
• W4200116509 hasConcept C18555067 @default.
• W4200116509 hasConcept C2524010 @default.
• W4200116509 hasConcept C2775924081 @default.
• W4200116509 hasConcept C33923547 @default.
• W4200116509 hasConcept C39920418 @default.
• W4200116509 hasConcept C41008148 @default.
• W4200116509 hasConcept C47446073 @default.
• W4200116509 hasConcept C62520636 @default.
• W4200116509 hasConcept C74650414 @default.
• W4200116509 hasConcept C90738871 @default.
• W4200116509 hasConceptScore W4200116509C121332964 @default.
• W4200116509 hasConceptScore W4200116509C127413603 @default.
• W4200116509 hasConceptScore W4200116509C134306372 @default.
• W4200116509 hasConceptScore W4200116509C138187205 @default.
• W4200116509 hasConceptScore W4200116509C150415221 @default.
• W4200116509 hasConceptScore W4200116509C151201525 @default.
• W4200116509 hasConceptScore W4200116509C154945302 @default.
• W4200116509 hasConceptScore W4200116509C170154142 @default.
• W4200116509 hasConceptScore W4200116509C17816587 @default.
• W4200116509 hasConceptScore W4200116509C18555067 @default.
• W4200116509 hasConceptScore W4200116509C2524010 @default.
• W4200116509 hasConceptScore W4200116509C2775924081 @default.
• W4200116509 hasConceptScore W4200116509C33923547 @default.
• W4200116509 hasConceptScore W4200116509C39920418 @default.
• W4200116509 hasConceptScore W4200116509C41008148 @default.
• W4200116509 hasConceptScore W4200116509C47446073 @default.
• W4200116509 hasConceptScore W4200116509C62520636 @default.
• W4200116509 hasConceptScore W4200116509C74650414 @default.
• W4200116509 hasConceptScore W4200116509C90738871 @default.
• W4200116509 hasFunder F4320321001 @default.
• W4200116509 hasFunder F4320322919 @default.
• W4200116509 hasFunder F4320323107 @default.
• W4200116509 hasIssue "5" @default.
• W4200116509 hasLocation W42001165091 @default.
• W4200116509 hasOpenAccess W4200116509 @default.
• W4200116509 hasPrimaryLocation W42001165091 @default.
• W4200116509 hasRelatedWork W2013070332 @default.
• W4200116509 hasRelatedWork W2125150316 @default.
• W4200116509 hasRelatedWork W2350003760 @default.
• W4200116509 hasRelatedWork W3016367173 @default.
• W4200116509 hasRelatedWork W3040474838 @default.
• W4200116509 hasRelatedWork W3126987580 @default.
• W4200116509 hasRelatedWork W3179890939 @default.
• W4200116509 hasRelatedWork W4301603290 @default.
• W4200116509 hasRelatedWork W4365791502 @default.
• W4200116509 hasRelatedWork W2187522440 @default.
• W4200116509 hasVolume "14" @default.

• next