{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:OYS3MGP5PIB7CYVHQJH7XDRF5A","short_pith_number":"pith:OYS3MGP5","schema_version":"1.0","canonical_sha256":"7625b619fd7a03f162a7824ffb8e25e8159cfc4addeedf5b9176827b7d3f22af","source":{"kind":"arxiv","id":"2207.01796","version":2},"attestation_state":"computed","paper":{"title":"Manipulator Differential Kinematics: Part 1: Kinematics, Velocity, and Applications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jesse Haviland, Peter Corke","submitted_at":"2022-07-05T03:49:38Z","abstract_excerpt":"Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator kinematics using the elementary transform sequence (ETS). Then we formulate the first-order differential kinematics, which leads to the manipulator Jacobian, which is the basis for velocity control and inverse kinematics. We describe essential classical techniques which rely on the manipulator Jacobian before exhibiting some contemporary applications. Part II of th"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2207.01796","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-05T03:49:38Z","cross_cats_sorted":[],"title_canon_sha256":"3d87685fb47d89c67c9cb26780621009e14e70873a53cf709061b402d8696344","abstract_canon_sha256":"90e96b207c0f22ef7d8227d7198629ce1620f0b7bb5bfe9fb630388e52a2aa04"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:10:17.298456Z","signature_b64":"/jJXsxJKoZMqzHf3mTDufG+gtYHa835bUavpDkQrA/nn/+EB5VN8ZfDi8jSZbBbwEpLzsxzYjUwCzBKrArmhAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7625b619fd7a03f162a7824ffb8e25e8159cfc4addeedf5b9176827b7d3f22af","last_reissued_at":"2026-07-05T06:10:17.297955Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:10:17.297955Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Manipulator Differential Kinematics: Part 1: Kinematics, Velocity, and Applications","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jesse Haviland, Peter Corke","submitted_at":"2022-07-05T03:49:38Z","abstract_excerpt":"Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which is the first in a two-part tutorial, we provide an introduction to modelling manipulator kinematics using the elementary transform sequence (ETS). Then we formulate the first-order differential kinematics, which leads to the manipulator Jacobian, which is the basis for velocity control and inverse kinematics. We describe essential classical techniques which rely on the manipulator Jacobian before exhibiting some contemporary applications. Part II of th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.01796","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2207.01796/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2207.01796","created_at":"2026-07-05T06:10:17.298012+00:00"},{"alias_kind":"arxiv_version","alias_value":"2207.01796v2","created_at":"2026-07-05T06:10:17.298012+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.01796","created_at":"2026-07-05T06:10:17.298012+00:00"},{"alias_kind":"pith_short_12","alias_value":"OYS3MGP5PIB7","created_at":"2026-07-05T06:10:17.298012+00:00"},{"alias_kind":"pith_short_16","alias_value":"OYS3MGP5PIB7CYVH","created_at":"2026-07-05T06:10:17.298012+00:00"},{"alias_kind":"pith_short_8","alias_value":"OYS3MGP5","created_at":"2026-07-05T06:10:17.298012+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A","json":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A.json","graph_json":"https://pith.science/api/pith-number/OYS3MGP5PIB7CYVHQJH7XDRF5A/graph.json","events_json":"https://pith.science/api/pith-number/OYS3MGP5PIB7CYVHQJH7XDRF5A/events.json","paper":"https://pith.science/paper/OYS3MGP5"},"agent_actions":{"view_html":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A","download_json":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A.json","view_paper":"https://pith.science/paper/OYS3MGP5","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2207.01796&json=true","fetch_graph":"https://pith.science/api/pith-number/OYS3MGP5PIB7CYVHQJH7XDRF5A/graph.json","fetch_events":"https://pith.science/api/pith-number/OYS3MGP5PIB7CYVHQJH7XDRF5A/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A/action/timestamp_anchor","attest_storage":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A/action/storage_attestation","attest_author":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A/action/author_attestation","sign_citation":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A/action/citation_signature","submit_replication":"https://pith.science/pith/OYS3MGP5PIB7CYVHQJH7XDRF5A/action/replication_record"}},"created_at":"2026-07-05T06:10:17.298012+00:00","updated_at":"2026-07-05T06:10:17.298012+00:00"}