{"id":"https://openalex.org/W2518591596","doi":"https://doi.org/10.5220/0005984704120420","title":"Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics","display_name":"Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2518591596","doi":"https://doi.org/10.5220/0005984704120420","mag":"2518591596"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005984704120420","pdf_url":null,"source":{"id":"https://openalex.org/S4363608918","display_name":"Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.5220/0005984704120420","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103027295","display_name":"Adri\u00e1n Peidr\u00f3","orcid":"https://orcid.org/0000-0002-4565-496X"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Adri\u00e1n Peidr\u00f3","raw_affiliation_strings":["Miguel Hern\u00e1ndez University, Spain"],"affiliations":[{"raw_affiliation_string":"Miguel Hern\u00e1ndez University, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050983525","display_name":"\u00d3scar Reinoso","orcid":"https://orcid.org/0000-0002-1065-8944"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"\u00d3scar Reinoso","raw_affiliation_strings":["Miguel Hern\u00e1ndez University, Spain"],"affiliations":[{"raw_affiliation_string":"Miguel Hern\u00e1ndez University, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102732003","display_name":"Arturo Gil","orcid":"https://orcid.org/0000-0001-7811-8955"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Arturo Gil","raw_affiliation_strings":["Miguel Hern\u00e1ndez University, Spain"],"affiliations":[{"raw_affiliation_string":"Miguel Hern\u00e1ndez University, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101594722","display_name":"Jos\u00e9 Mar\u00eda Mar\u00edn","orcid":"https://orcid.org/0000-0001-8363-6378"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jos\u00e9 Mar\u00eda Mar\u00edn","raw_affiliation_strings":["Miguel Hern\u00e1ndez University, Spain"],"affiliations":[{"raw_affiliation_string":"Miguel Hern\u00e1ndez University, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051019965","display_name":"Luis Pay\u00e1","orcid":"https://orcid.org/0000-0002-3045-4316"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Pay\u00e1","raw_affiliation_strings":["Miguel Hern\u00e1ndez University, Spain"],"affiliations":[{"raw_affiliation_string":"Miguel Hern\u00e1ndez University, Spain","institution_ids":["https://openalex.org/I111262870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044849733","display_name":"Yerai Berenguer","orcid":"https://orcid.org/0000-0003-3407-406X"},"institutions":[{"id":"https://openalex.org/I111262870","display_name":"Universitat de Miguel Hern\u00e1ndez d'Elx","ror":"https://ror.org/01azzms13","country_code":"ES","type":"education","lineage":["https://openalex.org/I111262870"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Yerai Berenguer","raw_affiliation_strings":["Miguel Hern\u00e1ndez University, Spain"],"affiliations":[{"raw_affiliation_string":"Miguel Hern\u00e1ndez University, Spain","institution_ids":["https://openalex.org/I111262870"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.389,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":73,"max":77},"biblio":{"volume":null,"issue":null,"first_page":"412","last_page":"420"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997,"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":0.9997,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9981,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9938,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/workspace","display_name":"Work space","score":0.9289792},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49274972},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.45204523}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9289792},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7844102},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7207855},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6793177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6205832},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5768167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5698531},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49274972},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.45204523},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43391},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38549712},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3286959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31875288},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.29401857},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23865104},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21201447},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13294226},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0791561},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07078791},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.041051507},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005984704120420","pdf_url":null,"source":{"id":"https://openalex.org/S4363608918","display_name":"Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005984704120420","pdf_url":null,"source":{"id":"https://openalex.org/S4363608918","display_name":"Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.45}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3209679259","https://openalex.org/W2948497870","https://openalex.org/W2738744783","https://openalex.org/W2537091977","https://openalex.org/W2374485569","https://openalex.org/W2063235357","https://openalex.org/W2014000908","https://openalex.org/W1990940587","https://openalex.org/W1974314767","https://openalex.org/W1917399524"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,13,16,18,26,29,32,37,44,53,63,67,70,75,78,84,98,101,106,110,120,124,127,130,139,143,147,155,162,165,168],"workspace":[4],"analysis":[5],"of":[6,15,28,36,66,77,100,105,112,123,146,157,164],"a":[7,39,93,114],"redundant":[8],"serial-parallel":[9],"robot.":[10,107],"Due":[11],"to":[12,51,126,136,153],"complexity":[14],"robot,":[17,38,79],"complex":[19],"constraints":[20],"(joint":[21],"limits":[22],"and":[23,31,117,142],"no-interference":[24],"between":[25],"legs":[27],"robot),":[30],"globally":[33],"serial":[34],"structure":[35],"discretization":[40,94,132],"method":[41,59,95,133],"based":[42],"on":[43],"forward":[45],"kinematics":[46],"would":[47],"be":[48],"most":[49],"appropriate":[50],"compute":[52],"workspace.":[54,148,169],"However,":[55],"this":[56],"widely":[57],"used":[58],"can":[60],"only":[61],"obtain":[62,137],"external":[64,140],"boundaries":[65,141],"workspace,":[68],"missing":[69,88],"internal":[71,144,159],"barriers":[72,145,160],"that":[73,96],"hinder":[74],"motion":[76],"which":[80],"may":[81],"exist":[82],"inside":[83,167],"boundaries.":[85],"To":[86],"avoid":[87],"these":[89,158],"barriers,":[90],"we":[91],"use":[92],"uses":[97],"solution":[99,125],"inverse":[102,128],"kinematic":[103],"problem":[104],"By":[108],"studying":[109],"feasibility":[111],"attaining":[113],"desired":[115],"position":[116],"orientation":[118],"by":[119],"different":[121],"branches":[122],"kinematics,":[129],"proposed":[131],"is":[134],"able":[135],"both":[138],"Some":[149],"examples":[150],"are":[151],"presented":[152],"show":[154],"importance":[156],"in":[161],"motions":[163],"robot":[166]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2518591596","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2024-12-12T13:48:29.865456","created_date":"2016-09-16"}