{"id":"https://openalex.org/W2066569405","doi":"https://doi.org/10.1002/rob.4620090404","title":"Optimal redundancy resolution of a kinematically redundant manipulator for a cyclic task","display_name":"Optimal redundancy resolution of a kinematically redundant manipulator for a cyclic task","publication_year":1992,"publication_date":"1992-06-01","ids":{"openalex":"https://openalex.org/W2066569405","doi":"https://doi.org/10.1002/rob.4620090404","mag":"2066569405"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620090404","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090404","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/A5014949443","display_name":"Byoung Wook Choi","orcid":"https://orcid.org/0000-0002-2404-7415"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Byoung Wook Choi","raw_affiliation_strings":["Department of Electrical Engineering Korea Advanced Institute of Science and Technology Cheongryang, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Korea Advanced Institute of Science and Technology Cheongryang, Seoul, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103444581","display_name":"Jong Hwa Won","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Hwa Won","raw_affiliation_strings":["Department of Electrical Engineering Korea Advanced Institute of Science and Technology Cheongryang, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Korea Advanced Institute of Science and Technology Cheongryang, Seoul, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022590014","display_name":"Myung Jin Chung","orcid":"https://orcid.org/0000-0002-6271-3343"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myung Jin Chung","raw_affiliation_strings":["Department of Electrical Engineering Korea Advanced Institute of Science and Technology Cheongryang, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering Korea Advanced Institute of Science and Technology Cheongryang, Seoul, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014949443"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.8282,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.74531079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":"4","first_page":"481","last_page":"503"},"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":0.9966999888420105,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9926999807357788,"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/parameterized-complexity","display_name":"Parameterized complexity","score":0.7130498886108398},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6510227918624878},{"id":"https://openalex.org/keywords/boundary-value-problem","display_name":"Boundary value problem","score":0.5350134968757629},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5305519700050354},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4359198212623596},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43449270725250244},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.429824560880661},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4219292998313904},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41881483793258667},{"id":"https://openalex.org/keywords/initial-value-problem","display_name":"Initial value problem","score":0.4151741564273834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39234524965286255},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3058653473854065},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2194521725177765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12732428312301636},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.12610751390457153}],"concepts":[{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.7130498886108398},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6510227918624878},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.5350134968757629},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5305519700050354},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4359198212623596},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43449270725250244},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.429824560880661},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4219292998313904},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41881483793258667},{"id":"https://openalex.org/C26955809","wikidata":"https://www.wikidata.org/wiki/Q10167591","display_name":"Initial value problem","level":2,"score":0.4151741564273834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39234524965286255},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3058653473854065},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2194521725177765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12732428312301636},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.12610751390457153},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620090404","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620090404","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W291003596","https://openalex.org/W1977877194","https://openalex.org/W1985502389","https://openalex.org/W2004183253","https://openalex.org/W2007228060","https://openalex.org/W2016514184","https://openalex.org/W2023248353","https://openalex.org/W2049617391","https://openalex.org/W2081720252","https://openalex.org/W2089728559","https://openalex.org/W2100476631","https://openalex.org/W2100790457","https://openalex.org/W2109464322","https://openalex.org/W2110333200","https://openalex.org/W2114000612","https://openalex.org/W2125150316","https://openalex.org/W2129644801","https://openalex.org/W2144629157","https://openalex.org/W2153247018","https://openalex.org/W2154404773","https://openalex.org/W2159857204","https://openalex.org/W2163683727","https://openalex.org/W2599973969","https://openalex.org/W2978829509","https://openalex.org/W3088063282","https://openalex.org/W3197739842","https://openalex.org/W4241018115","https://openalex.org/W4245155680"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W154868527","https://openalex.org/W1494268238","https://openalex.org/W4244134337","https://openalex.org/W2505728881","https://openalex.org/W2148607898","https://openalex.org/W1965568013","https://openalex.org/W1992604608","https://openalex.org/W2014708888","https://openalex.org/W2760616281"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"article":[2],"proposes":[3],"a":[4,18,36,41,56,69,80,169],"method":[5,72,163],"for":[6,31,47,78,140,150],"the":[7,13,27,44,75,85,90,97,107,111,115,141,154,158,161,166],"global":[8],"optimization":[9,77],"of":[10,29,99,153,160,168],"redundancy":[11],"over":[12],"whole":[14],"task":[15],"period":[16],"in":[17,35,106],"kinematically":[19],"redundant":[20],"manipulator.":[21,170],"The":[22],"necessary":[23],"conditions":[24,46,133],"based":[25,73],"on":[26,74],"calculus":[28],"variations":[30],"integral\u2010type":[32],"criteria":[33],"result":[34],"second\u2010order":[37],"differential":[38],"equation.":[39],"For":[40],"cyclic":[42],"task,":[43],"boundary":[45,58,132],"conservative":[48],"joint":[49,92,138],"motions":[50],"are":[51],"discussed.":[52],"Then,":[53],"we":[54,101,146],"reformulate":[55],"two\u2010point":[57],"value":[59,64],"problem":[60,66],"to":[61,136],"an":[62,148],"initial":[63,91,116,137,143],"adjustment":[65],"and":[67,117,156],"suggest":[68],"numerical":[70,123],"search":[71,103],"iterative":[76],"providing":[79],"globally":[81],"optimal":[82],"solution":[83],"using":[84,110],"gradient":[86],"projection":[87],"method.":[88],"Since":[89],"velocity":[93],"is":[94],"parameterized":[95,108],"with":[96],"number":[98],"redundancy,":[100],"only":[102],"parameter":[104],"values":[105],"space":[109],"configuration":[112],"error":[113],"between":[114],"final":[118],"time.":[119],"We":[120],"show":[121],"through":[122],"examples":[124],"that":[125],"multiple":[126],"nonhomotopic":[127],"extremal":[128],"solutions":[129],"satisfying":[130],"periodic":[131],"exist":[134],"according":[135],"velocities":[139],"same":[142],"configuration.":[144],"Finally,":[145],"discuss":[147],"algorithm":[149],"topological":[151],"liftings":[152],"paths":[155],"demonstrate":[157],"generality":[159],"proposed":[162],"by":[164],"considering":[165],"dynamics":[167]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}