{"id":"https://openalex.org/W4200356183","doi":"https://doi.org/10.3390/app112311566","title":"Improving the Manipulability of a Redundant Arm Using Decoupled Hybrid Visual Servoing","display_name":"Improving the Manipulability of a Redundant Arm Using Decoupled Hybrid Visual Servoing","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4200356183","doi":"https://doi.org/10.3390/app112311566"},"language":"en","primary_location":{"id":"doi:10.3390/app112311566","doi":"https://doi.org/10.3390/app112311566","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app112311566","pdf_url":"https://www.mdpi.com/2076-3417/11/23/11566/pdf?version=1638969574","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","oarl","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2076-3417/11/23/11566/pdf?version=1638969574","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046019885","display_name":"Alireza Rastegarpanah","orcid":"https://orcid.org/0000-0003-4264-6857","observed_orcids":["https://orcid.org/0000-0003-4264-6857"]},"institutions":[{"id":"https://openalex.org/I4210156703","display_name":"The Faraday Institution","ror":"https://ror.org/05dt4bt98","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210156703"]},{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alireza Rastegarpanah","raw_affiliation_strings":["Department of Metallurgy & Materials Science, University of Birmingham, Birmingham B15 2TT, UK","The Faraday Institution, Quad One, Harwell Science and Innovation Campus, Didcot OX11 0RA, UK"],"raw_orcid":"https://orcid.org/0000-0003-4264-6857","affiliations":[{"raw_affiliation_string":"Department of Metallurgy & Materials Science, University of Birmingham, Birmingham B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"The Faraday Institution, Quad One, Harwell Science and Innovation Campus, Didcot OX11 0RA, UK","institution_ids":["https://openalex.org/I4210156703"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036967034","display_name":"Ali Aflakian","orcid":"https://orcid.org/0000-0001-9777-7067","observed_orcids":["https://orcid.org/0000-0001-9777-7067"]},"institutions":[{"id":"https://openalex.org/I4210156703","display_name":"The Faraday Institution","ror":"https://ror.org/05dt4bt98","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210156703"]},{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ali Aflakian","raw_affiliation_strings":["Department of Metallurgy & Materials Science, University of Birmingham, Birmingham B15 2TT, UK","The Faraday Institution, Quad One, Harwell Science and Innovation Campus, Didcot OX11 0RA, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Metallurgy & Materials Science, University of Birmingham, Birmingham B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"The Faraday Institution, Quad One, Harwell Science and Innovation Campus, Didcot OX11 0RA, UK","institution_ids":["https://openalex.org/I4210156703"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836","observed_orcids":["https://orcid.org/0000-0002-0890-8836"]},"institutions":[{"id":"https://openalex.org/I4210156703","display_name":"The Faraday Institution","ror":"https://ror.org/05dt4bt98","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210156703"]},{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["Department of Metallurgy & Materials Science, University of Birmingham, Birmingham B15 2TT, UK","The Faraday Institution, Quad One, Harwell Science and Innovation Campus, Didcot OX11 0RA, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Metallurgy & Materials Science, University of Birmingham, Birmingham B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"The Faraday Institution, Quad One, Harwell Science and Innovation Campus, Didcot OX11 0RA, UK","institution_ids":["https://openalex.org/I4210156703"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046019885"],"corresponding_institution_ids":["https://openalex.org/I4210156703","https://openalex.org/I79619799"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2160},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2160},"fwci":0.5483,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.62345003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"11","issue":"23","first_page":"11566","last_page":"11566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.5214999914169312,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.5214999914169312,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.4503999948501587,"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":0.006599999964237213,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hybrid-visual-servoing","display_name":"hybrid visual servoing","score":0.9670000076293945},{"id":"https://openalex.org/keywords/redundant-manipulators","display_name":"redundant manipulators","score":0.7459999918937683},{"id":"https://openalex.org/keywords/manipulability","display_name":"manipulability","score":0.8999999761581421},{"id":"https://openalex.org/keywords/projection-operators","display_name":"projection operators","score":0.7839999794960022},{"id":"https://openalex.org/keywords/levenberg-marquardt-algorithm","display_name":"Levenberg-Marquardt algorithm","score":0.7850000262260437},{"id":"https://openalex.org/keywords/adaptive-gain","display_name":"adaptive gain","score":0.8169999718666077},{"id":"https://openalex.org/keywords/robot-singularities","display_name":"robot singularities","score":0.8920000195503235}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9397710561752319},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6634773015975952},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6469504833221436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.584019124507904},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5354540348052979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5348801612854004},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.43929699063301086},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3002831041812897},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/app112311566","doi":"https://doi.org/10.3390/app112311566","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app112311566","pdf_url":"https://www.mdpi.com/2076-3417/11/23/11566/pdf?version=1638969574","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","oarl","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},{"id":"pmh:oai:publications.aston.ac.uk:48013","doi":null,"is_oa":true,"landing_page_url":"https://publications.aston.ac.uk/id/eprint/48013/1/Improving_the_Manipulability_of_a_Redundant_Arm_Using_Decoupled_Hybrid_Visual_Servoing.pdf","pdf_url":"https://publications.aston.ac.uk/id/eprint/48013/1/Improving_the_Manipulability_of_a_Redundant_Arm_Using_Decoupled_Hybrid_Visual_Servoing.pdf","source":{"id":"https://openalex.org/S4306400483","display_name":"Aston Publications Explorer (Aston University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I169199633","host_organization_name":"Aston University","host_organization_lineage":["https://openalex.org/I169199633"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:7574342e667d47fca94693e91937dfae","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/7574342e667d47fca94693e91937dfae","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Applied Sciences, Vol 11, Iss 23, p 11566 (2021)","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/603bae41-a843-4892-a179-ce44fc369e4d","doi":null,"is_oa":true,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/603bae41-a843-4892-a179-ce44fc369e4d","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rastegarpanah, A, Aflakian, A & Stolkin, R 2021, 'Improving the Manipulability of a Redundant Arm Using Decoupled Hybrid Visual Servoing', Applied Sciences, vol. 11, no. 23, 11566. https://doi.org/10.3390/app112311566","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:publications/603bae41-a843-4892-a179-ce44fc369e4d","doi":null,"is_oa":true,"landing_page_url":"https://www.mdpi.com/2076-3417/11/23/11566","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rastegarpanah, A, Aflakian, A & Stolkin, R 2021, 'Improving the Manipulability of a Redundant Arm Using Decoupled Hybrid Visual Servoing', Applied Sciences, vol. 11, no. 23, 11566. https://doi.org/10.3390/app112311566","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/app112311566","doi":"https://doi.org/10.3390/app112311566","is_oa":true,"landing_page_url":"https://doi.org/10.3390/app112311566","pdf_url":"https://www.mdpi.com/2076-3417/11/23/11566/pdf?version=1638969574","source":{"id":"https://openalex.org/S4210205812","display_name":"Applied Sciences","issn_l":"2076-3417","issn":["2076-3417"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","norway-1","oarl","poland-100","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Applied Sciences","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G2934512999","display_name":null,"funder_award_id":"FIRG005","funder_id":"https://openalex.org/F4320317150","funder_display_name":"Faraday Institution"},{"id":"https://openalex.org/G7588477723","display_name":"Perception-guided robust and reproducible robotic grasping and manipulation","funder_award_id":"EP/S032428/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320317150","display_name":"Faraday Institution","ror":"https://ror.org/05dt4bt98"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4200356183.pdf","grobid_xml":"https://content.openalex.org/works/W4200356183.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1514444483","https://openalex.org/W1544270700","https://openalex.org/W1581095231","https://openalex.org/W1965926352","https://openalex.org/W1973256573","https://openalex.org/W1981518010","https://openalex.org/W2001291741","https://openalex.org/W2016793280","https://openalex.org/W2049617391","https://openalex.org/W2051826626","https://openalex.org/W2062776777","https://openalex.org/W2077765597","https://openalex.org/W2082991751","https://openalex.org/W2088159861","https://openalex.org/W2099688402","https://openalex.org/W2100249329","https://openalex.org/W2104897525","https://openalex.org/W2117923598","https://openalex.org/W2121431541","https://openalex.org/W2122610278","https://openalex.org/W2135386771","https://openalex.org/W2157783419","https://openalex.org/W2168947801","https://openalex.org/W2294389641","https://openalex.org/W2802115479","https://openalex.org/W2808703244","https://openalex.org/W2910187114","https://openalex.org/W2989795052","https://openalex.org/W3005109850","https://openalex.org/W3135370375","https://openalex.org/W3193327279","https://openalex.org/W4229599822","https://openalex.org/W4230016149","https://openalex.org/W4236881204","https://openalex.org/W6634576684"],"related_works":["https://openalex.org/W3193327279","https://openalex.org/W2134111793","https://openalex.org/W7006526044","https://openalex.org/W2247709141","https://openalex.org/W2602026546","https://openalex.org/W4319778329","https://openalex.org/W2996767419","https://openalex.org/W2167532125","https://openalex.org/W2921639645","https://openalex.org/W4223989506"],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"a":[3,98],"hybrid":[4,20,125,152],"visual":[5,21,49,68,126],"servoing":[6,22,69,127],"technique":[7],"that":[8],"is":[9,117,165,178],"optimised":[10],"to":[11,53,83,168,181],"tackle":[12],"the":[13,28,39,48,55,67,85,91,102,105,110,120,141,158,162,170,173,182,186],"shortcomings":[14,25],"of":[15,47,104],"classical":[16,111,121,151],"2D,":[17,122],"3D":[18,45,123],"and":[19,32,35,88,101,124,132,150,176],"approaches.":[23,197],"These":[24],"are":[26],"mostly":[27],"convergence":[29],"issues,":[30],"image":[31],"robot":[33,86,106,191],"singularities,":[34],"unreachable":[36],"trajectories":[37,139],"for":[38,140],"robot.":[40],"To":[41,64],"address":[42],"these":[43],"deficiencies,":[44],"estimation":[46],"features":[50],"was":[51,81,95,107],"used":[52,82],"control":[54],"translations":[56],"in":[57,129],"Z-axis":[58],"as":[59,61,97],"well":[60],"all":[62],"rotations.":[63],"speed":[65],"up":[66],"(VS)":[70],"operation,":[71],"adaptive":[72],"gains":[73],"were":[74],"used.":[75],"Damped":[76],"Least":[77],"Square":[78],"(DLS)":[79],"approach":[80,116,135,188],"reduce":[84],"singularities":[87],"smooth":[89],"out":[90],"discontinuities.":[92],"Finally,":[93],"manipulability":[94],"established":[96],"secondary":[99],"task,":[100],"redundancy":[103],"resolved":[108],"using":[109],"projection":[112],"operator.":[113],"The":[114,134],"proposed":[115,163,187],"compared":[118],"with":[119,143,157],"methods":[128],"both":[130],"simulation":[131],"real-world.":[133],"offers":[136,189],"more":[137,179],"efficient":[138],"robot,":[142],"shorter":[144],"camera":[145,174,183],"paths":[146],"than":[147,195],"2D":[148],"image-based":[149],"VS":[153],"methods.":[154],"In":[155],"comparison":[156],"traditional":[159],"position-based":[160],"approach,":[161],"method":[164],"less":[166],"likely":[167],"lose":[169],"object":[171],"from":[172],"scene,":[175],"it":[177],"robust":[180],"calibrations.":[184],"Moreover,":[185],"greater":[190],"controllability":[192],"(higher":[193],"manipulability)":[194],"other":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2021-12-31T00:00:00"}
