{"id":"https://openalex.org/W2132816178","doi":"https://doi.org/10.1007/s11740-012-0362-1","title":"Redundancy and optimization of a 6R robot for five-axis milling applications: singularity, joint limits and collision","display_name":"Redundancy and optimization of a 6R robot for five-axis milling applications: singularity, joint limits and collision","publication_year":2012,"publication_date":"2012-01-21","ids":{"openalex":"https://openalex.org/W2132816178","doi":"https://doi.org/10.1007/s11740-012-0362-1","mag":"2132816178"},"language":"en","primary_location":{"id":"doi:10.1007/s11740-012-0362-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11740-012-0362-1","pdf_url":null,"source":{"id":"https://openalex.org/S43349511","display_name":"Production Engineering","issn_l":"0944-6524","issn":["0944-6524","1863-7353"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Production Engineering","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/A5043847106","display_name":"Wenlei Xiao","orcid":"https://orcid.org/0000-0002-2143-0267"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenlei Xiao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China","[School of Mechanical Engineering and Automation, Beihang University, Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[School of Mechanical Engineering and Automation, Beihang University, Beijing, China]","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101949070","display_name":"Huan Ji","orcid":"https://orcid.org/0000-0002-0124-1530"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Huan","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China","[School of Mechanical Engineering and Automation, Beihang University, Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[School of Mechanical Engineering and Automation, Beihang University, Beijing, China]","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043847106"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":2.2715,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.89815795,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"287","last_page":"296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/redundancy","display_name":"Redundancy (engineering)","score":0.8444767594337463},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.715373694896698},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6504900455474854},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6333094835281372},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.51747065782547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48848140239715576},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4374195635318756},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4266488552093506},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3898044228553772},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3691176176071167},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3501485586166382},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32520949840545654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3222222328186035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2001587450504303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12721428275108337}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8444767594337463},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.715373694896698},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6504900455474854},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6333094835281372},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.51747065782547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48848140239715576},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4374195635318756},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4266488552093506},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3898044228553772},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3691176176071167},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3501485586166382},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32520949840545654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3222222328186035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2001587450504303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12721428275108337},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11740-012-0362-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11740-012-0362-1","pdf_url":null,"source":{"id":"https://openalex.org/S43349511","display_name":"Production Engineering","issn_l":"0944-6524","issn":["0944-6524","1863-7353"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Production Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W1589481967","https://openalex.org/W1989245954","https://openalex.org/W2025064275","https://openalex.org/W2032122644","https://openalex.org/W2049617391","https://openalex.org/W2068794409","https://openalex.org/W2074910707","https://openalex.org/W2114000612","https://openalex.org/W2115459268","https://openalex.org/W2116937526","https://openalex.org/W2129995994","https://openalex.org/W2144629157","https://openalex.org/W2167803496","https://openalex.org/W2539881804","https://openalex.org/W2787523326","https://openalex.org/W3088063282","https://openalex.org/W4234534407","https://openalex.org/W4302401162"],"related_works":["https://openalex.org/W2351083540","https://openalex.org/W2953854768","https://openalex.org/W4231686530","https://openalex.org/W2389690162","https://openalex.org/W650625605","https://openalex.org/W2060497234","https://openalex.org/W3185647786","https://openalex.org/W2035968624","https://openalex.org/W2181731670","https://openalex.org/W3100966471"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
