{"id":"https://openalex.org/W2913758839","doi":"https://doi.org/10.1109/rcar.2018.8621731","title":"A Synthetic Inverse Kinematic Algorithm for 7-DOF Redundant Manipulator","display_name":"A Synthetic Inverse Kinematic Algorithm for 7-DOF Redundant Manipulator","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2913758839","doi":"https://doi.org/10.1109/rcar.2018.8621731","mag":"2913758839"},"language":"en","primary_location":{"id":"doi:10.1109/rcar.2018.8621731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2018.8621731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036646458","display_name":"Tian Xu","orcid":"https://orcid.org/0000-0002-9486-9609"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tian Xu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073753037","display_name":"Qianqian Fang","orcid":"https://orcid.org/0000-0002-3974-8986"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianqian Fang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031274764","display_name":"Yingze Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingze Xie","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5069459810"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.3085,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.82422593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"112","last_page":"117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.775585412979126},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.70514976978302},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7017068862915039},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5925728678703308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5892190337181091},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.45513617992401123},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.43142208456993103},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3512706458568573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26439356803894043},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21086007356643677},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14885562658309937},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0940045714378357},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07023155689239502}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.775585412979126},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.70514976978302},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7017068862915039},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5925728678703308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5892190337181091},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.45513617992401123},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.43142208456993103},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3512706458568573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26439356803894043},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21086007356643677},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14885562658309937},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0940045714378357},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07023155689239502},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar.2018.8621731","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2018.8621731","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W829343408","https://openalex.org/W1521528529","https://openalex.org/W1581655487","https://openalex.org/W1969282030","https://openalex.org/W1992579504","https://openalex.org/W2025939589","https://openalex.org/W2036454563","https://openalex.org/W2042120364","https://openalex.org/W2058334894","https://openalex.org/W2058544403","https://openalex.org/W2062691475","https://openalex.org/W2064431765","https://openalex.org/W2080012913","https://openalex.org/W2129644801","https://openalex.org/W2138233825","https://openalex.org/W2156441448","https://openalex.org/W2343614337","https://openalex.org/W2349151672","https://openalex.org/W2729750029","https://openalex.org/W2765857190","https://openalex.org/W4243385754","https://openalex.org/W6623470018"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2145154791","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W192519934"],"abstract_inverted_index":{"This":[0,41],"paper":[1],"proposes":[2],"a":[3,28,89],"synthetic":[4],"inverse":[5],"kinematic":[6],"algorithm":[7,24,43],"for":[8,95,101],"computing":[9],"numerical":[10],"solutions":[11],"of":[12,30,55,72,79,85,110],"7-DOF":[13],"redundant":[14],"manipulators":[15],"designed":[16],"and":[17,35,51,69],"developed":[18],"by":[19,76],"our":[20],"laboratory.":[21],"The":[22,58],"proposed":[23,87,112],"is":[25,44,61,93],"based":[26],"on":[27],"combination":[29],"the":[31,36,48,52,56,67,73,83,86,98,104,108,111],"damped":[32],"least-squares":[33],"method":[34,64],"Newton-":[37],"Raphson":[38],"iteration":[39],"method.":[40,113],"combined":[42],"not":[45],"sensitive":[46],"to":[47],"initial":[49],"approximation":[50],"singular":[53],"configurations":[54],"manipulator.":[57],"most":[59],"importance":[60],"that":[62],"this":[63],"can":[65],"reduce":[66],"position":[68],"orientation":[70],"error":[71],"manipulator":[74],"end-effector":[75],"an":[77],"order":[78],"magnitude.":[80],"To":[81],"verify":[82],"effectiveness":[84],"algorithm,":[88],"straight":[90],"line":[91],"trajectory":[92],"used":[94],"simulation":[96,105],"in":[97],"Robotics":[99],"Toolbox":[100],"MATLAB.":[102],"Finally,":[103],"results":[106],"prove":[107],"accuracy":[109]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}