{"id":"https://openalex.org/W2055799771","doi":"https://doi.org/10.1002/rob.4620080106","title":"Improving local torque optimization techniques for redundant robotic mechanisms","display_name":"Improving local torque optimization techniques for redundant robotic mechanisms","publication_year":1991,"publication_date":"1991-02-01","ids":{"openalex":"https://openalex.org/W2055799771","doi":"https://doi.org/10.1002/rob.4620080106","mag":"2055799771"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620080106","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620080106","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-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/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312-1 O-Okayama, Meguro-Ku, Tokyo 152, Japan","Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312\u20101 O\u2010Okayama, Meguro\u2010Ku, Tokyo 152, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312-1 O-Okayama, Meguro-Ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312\u20101 O\u2010Okayama, Meguro\u2010Ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312-1 O-Okayama, Meguro-Ku, Tokyo 152, Japan","Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312\u20101 O\u2010Okayama, Meguro\u2010Ku, Tokyo 152, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312-1 O-Okayama, Meguro-Ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Department of Mechanical Engineering Science Tokyo Institute of Technology 2\u201312\u20101 O\u2010Okayama, Meguro\u2010Ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108521987","display_name":"Dragomir N. Nenchev","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dragomir N. Nenchev","raw_affiliation_strings":["Robotics Department Higher Institute of Mechanical and Electrical Engineering Sofia 1156, Bulgaria"],"affiliations":[{"raw_affiliation_string":"Robotics Department Higher Institute of Mechanical and Electrical Engineering Sofia 1156, Bulgaria","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100778162"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":2.2661,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.8808487,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"8","issue":"1","first_page":"75","last_page":"91"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9993000030517578,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9970999956130981,"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/torque","display_name":"Torque","score":0.7775976657867432},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7631151676177979},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7283561825752258},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.629718542098999},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4483826458454132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4311518967151642},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34368735551834106},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33054274320602417},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11775630712509155},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09140369296073914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08870542049407959},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.06927990913391113}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7775976657867432},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7631151676177979},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7283561825752258},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.629718542098999},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4483826458454132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4311518967151642},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34368735551834106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33054274320602417},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11775630712509155},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09140369296073914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08870542049407959},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.06927990913391113},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620080106","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620080106","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2016514184","https://openalex.org/W2026703205","https://openalex.org/W2085536277","https://openalex.org/W2100476631","https://openalex.org/W2132294818","https://openalex.org/W2153247018","https://openalex.org/W2337844065","https://openalex.org/W4241018115"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W1486373823","https://openalex.org/W3136087161","https://openalex.org/W2053762185","https://openalex.org/W2145980196","https://openalex.org/W2018238589","https://openalex.org/W1984283682","https://openalex.org/W2235865024","https://openalex.org/W1965257389","https://openalex.org/W2366374844"],"abstract_inverted_index":{"Abstract":[0],"Two":[1],"techniques":[2],"that":[3],"improve":[4,81],"existing":[5],"local":[6],"torque":[7,29,53,102],"optimization":[8,54,103],"methods":[9],"for":[10],"redundant":[11],"robotic":[12],"mechanisms":[13],"are":[14,71],"proposed.":[15],"The":[16,46],"first":[17],"technique":[18,48],"is":[19,49],"based":[20,50],"on":[21,51],"a":[22,27,32,52],"balancing":[23],"scheme,":[24],"which":[25,56,90],"balances":[26],"joint":[28,35],"norm":[30,33],"against":[31,73],"of":[34,65,101],"accelerations.":[36],"Expressions":[37],"have":[38,86],"been":[39,87],"derived":[40],"utilizing":[41],"the":[42,63,66,74,82,99],"Lagrangian":[43],"multipliers":[44],"method.":[45],"other":[47],"method":[55],"minimizes":[57],"torques":[58],"through":[59],"accelerations,":[60],"obtained":[61],"from":[62,98],"null\u2010space":[64],"Jacobian":[67],"matrix.":[68],"These":[69],"accelerations":[70],"balanced":[72],"minimum\u2010norm":[75],"acceleration":[76],"component":[77],"in":[78,91],"order":[79],"to":[80],"performance.":[83],"Numerical":[84],"simulations":[85],"carried":[88],"out":[89],"most":[92],"cases":[93],"illustrate":[94],"good":[95],"performance":[96],"capability":[97],"viewpoint":[100],"and":[104],"global":[105],"stability.":[106]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}