{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:ANJH4JRRLQEFEZ3RV2YAYRMFSL","short_pith_number":"pith:ANJH4JRR","canonical_record":{"source":{"id":"1906.07813","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T16:24:07Z","cross_cats_sorted":["cs.CG"],"title_canon_sha256":"241beb516ef8903ce14dff17eb607f8d4f27f635459420007c5251dedfc2b1ae","abstract_canon_sha256":"b4d691ad988a6c77c9c943729074aec6ab2aa009a3def308ff61fdab5abac996"},"schema_version":"1.0"},"canonical_sha256":"03527e26315c08526771aeb00c458592e494fbafe946854f83c0e0a337fcea6d","source":{"kind":"arxiv","id":"1906.07813","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.07813","created_at":"2026-05-17T23:42:57Z"},{"alias_kind":"arxiv_version","alias_value":"1906.07813v1","created_at":"2026-05-17T23:42:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.07813","created_at":"2026-05-17T23:42:57Z"},{"alias_kind":"pith_short_12","alias_value":"ANJH4JRRLQEF","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"ANJH4JRRLQEFEZ3R","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"ANJH4JRR","created_at":"2026-05-18T12:33:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:ANJH4JRRLQEFEZ3RV2YAYRMFSL","target":"record","payload":{"canonical_record":{"source":{"id":"1906.07813","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T16:24:07Z","cross_cats_sorted":["cs.CG"],"title_canon_sha256":"241beb516ef8903ce14dff17eb607f8d4f27f635459420007c5251dedfc2b1ae","abstract_canon_sha256":"b4d691ad988a6c77c9c943729074aec6ab2aa009a3def308ff61fdab5abac996"},"schema_version":"1.0"},"canonical_sha256":"03527e26315c08526771aeb00c458592e494fbafe946854f83c0e0a337fcea6d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:42:57.653293Z","signature_b64":"Ps34MyxP819SE5iE9ELfEOe1Dms+iay4AtlJo7LnCIuTLxGMIETgvp0ky++tptAQKYUj2Y1s5ddwrAcOOrxLAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"03527e26315c08526771aeb00c458592e494fbafe946854f83c0e0a337fcea6d","last_reissued_at":"2026-05-17T23:42:57.652774Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:42:57.652774Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1906.07813","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:42:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J7RWjA3YbQ66PGonfC80xSbY+Y1qNGRHDHBSKcmQunlQ6sgvRgjIBy10QvaGN4DLI8gv2kopxKgIRnzKjmC4Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T17:39:13.518688Z"},"content_sha256":"356688de824e94f48d152db224e7f6f44fba9bf936f9f827ff101e6ecde535ec","schema_version":"1.0","event_id":"sha256:356688de824e94f48d152db224e7f6f44fba9bf936f9f827ff101e6ecde535ec"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:ANJH4JRRLQEFEZ3RV2YAYRMFSL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Inverse Kinematics of Some General 6R/P Manipulators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CG"],"primary_cat":"cs.RO","authors_text":"Fidel R. Nemenzo, Jose Capco, Manuel Joseph C. Loquias, Saraleen Mae M. Manongsong","submitted_at":"2019-06-11T16:24:07Z","abstract_excerpt":"We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective variety in $\\mathbb{P}^7$ via dual quaternions. This allows us to compute linear forms that describe linear spaces containing the workspaces of these 3-subchains. We present numerical examples that illustrate the algorithm and show the real solutions."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.07813","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:42:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ma5P8jQqyLR/VeSP3YkNMNjIFs8RPTHaGnwnQxrfivRuOzwjbJgssaTvVQwBlK5PCmzFAFlCgdJwNLo4Ug++Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T17:39:13.519041Z"},"content_sha256":"bbfc07ed7ee32c3a5a39ab9301c69a7499f4db6c4310675565bcce7b2a78f6ac","schema_version":"1.0","event_id":"sha256:bbfc07ed7ee32c3a5a39ab9301c69a7499f4db6c4310675565bcce7b2a78f6ac"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ANJH4JRRLQEFEZ3RV2YAYRMFSL/bundle.json","state_url":"https://pith.science/pith/ANJH4JRRLQEFEZ3RV2YAYRMFSL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ANJH4JRRLQEFEZ3RV2YAYRMFSL/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-28T17:39:13Z","links":{"resolver":"https://pith.science/pith/ANJH4JRRLQEFEZ3RV2YAYRMFSL","bundle":"https://pith.science/pith/ANJH4JRRLQEFEZ3RV2YAYRMFSL/bundle.json","state":"https://pith.science/pith/ANJH4JRRLQEFEZ3RV2YAYRMFSL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ANJH4JRRLQEFEZ3RV2YAYRMFSL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:ANJH4JRRLQEFEZ3RV2YAYRMFSL","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"b4d691ad988a6c77c9c943729074aec6ab2aa009a3def308ff61fdab5abac996","cross_cats_sorted":["cs.CG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T16:24:07Z","title_canon_sha256":"241beb516ef8903ce14dff17eb607f8d4f27f635459420007c5251dedfc2b1ae"},"schema_version":"1.0","source":{"id":"1906.07813","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1906.07813","created_at":"2026-05-17T23:42:57Z"},{"alias_kind":"arxiv_version","alias_value":"1906.07813v1","created_at":"2026-05-17T23:42:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1906.07813","created_at":"2026-05-17T23:42:57Z"},{"alias_kind":"pith_short_12","alias_value":"ANJH4JRRLQEF","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"ANJH4JRRLQEFEZ3R","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"ANJH4JRR","created_at":"2026-05-18T12:33:12Z"}],"graph_snapshots":[{"event_id":"sha256:bbfc07ed7ee32c3a5a39ab9301c69a7499f4db6c4310675565bcce7b2a78f6ac","target":"graph","created_at":"2026-05-17T23:42:57Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"We develop an algorithm that solves the inverse kinematics of general serial 2RP3R, 2R2P2R, 3RP2R and 6R manipulators based on the HuPf algorithm. We identify the workspaces of the 3-subchains of the manipulator with a quasi-projective variety in $\\mathbb{P}^7$ via dual quaternions. This allows us to compute linear forms that describe linear spaces containing the workspaces of these 3-subchains. We present numerical examples that illustrate the algorithm and show the real solutions.","authors_text":"Fidel R. Nemenzo, Jose Capco, Manuel Joseph C. Loquias, Saraleen Mae M. Manongsong","cross_cats":["cs.CG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T16:24:07Z","title":"Inverse Kinematics of Some General 6R/P Manipulators"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.07813","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:356688de824e94f48d152db224e7f6f44fba9bf936f9f827ff101e6ecde535ec","target":"record","created_at":"2026-05-17T23:42:57Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"b4d691ad988a6c77c9c943729074aec6ab2aa009a3def308ff61fdab5abac996","cross_cats_sorted":["cs.CG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-06-11T16:24:07Z","title_canon_sha256":"241beb516ef8903ce14dff17eb607f8d4f27f635459420007c5251dedfc2b1ae"},"schema_version":"1.0","source":{"id":"1906.07813","kind":"arxiv","version":1}},"canonical_sha256":"03527e26315c08526771aeb00c458592e494fbafe946854f83c0e0a337fcea6d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"03527e26315c08526771aeb00c458592e494fbafe946854f83c0e0a337fcea6d","first_computed_at":"2026-05-17T23:42:57.652774Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:42:57.652774Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Ps34MyxP819SE5iE9ELfEOe1Dms+iay4AtlJo7LnCIuTLxGMIETgvp0ky++tptAQKYUj2Y1s5ddwrAcOOrxLAg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:42:57.653293Z","signed_message":"canonical_sha256_bytes"},"source_id":"1906.07813","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:356688de824e94f48d152db224e7f6f44fba9bf936f9f827ff101e6ecde535ec","sha256:bbfc07ed7ee32c3a5a39ab9301c69a7499f4db6c4310675565bcce7b2a78f6ac"],"state_sha256":"49bec7d226a2ebd45acc0882204a39ba10dba0fb02f082ea75d9beeaa6e45534"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0pu+Sqk0NYmhsmZspcQsdrZwetR0emKaLj/anUbRuX7kSt6Rr6/FEFTZu6DpMbml7GhK5SSP8Bz8bU9wefBKAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T17:39:13.521141Z","bundle_sha256":"66c98022f1ad4c3a19b87c183c185ec0947d60016fed125997077ee7682a2fc9"}}