{"id":"https://openalex.org/W2156906601","doi":"https://doi.org/10.1017/s0263574700010602","title":"Application of redundant robots to constrained-motion tasks","display_name":"Application of redundant robots to constrained-motion tasks","publication_year":1992,"publication_date":"1992-09-01","ids":{"openalex":"https://openalex.org/W2156906601","doi":"https://doi.org/10.1017/s0263574700010602","mag":"2156906601"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700010602","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700010602","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5031790874","display_name":"Veljko Potkonjak","orcid":"https://orcid.org/0000-0003-4490-4717"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":true,"raw_author_name":"Veljko Potkonjak","raw_affiliation_strings":["Faculty of Electrical Engineering, University of Belgrade, Bulevar Revolucije 73, 11000 Belgrade (Yugoslavia","Faculty of Electrical Engineering, University of Belgrade, Bulevar Revolucije 73, 11000 Belgrade (Yugoslavia)"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Belgrade, Bulevar Revolucije 73, 11000 Belgrade (Yugoslavia","institution_ids":["https://openalex.org/I4068193"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, University of Belgrade, Bulevar Revolucije 73, 11000 Belgrade (Yugoslavia)","institution_ids":["https://openalex.org/I4068193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5031790874"],"corresponding_institution_ids":["https://openalex.org/I4068193"],"apc_list":null,"apc_paid":null,"fwci":2.4845,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89763647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"5","first_page":"397","last_page":"407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.998199999332428,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9908999800682068,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.9151704907417297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7560580968856812},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5682471394538879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5478248000144958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4731130301952362},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4643113613128662},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3514041006565094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3333107829093933},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26215505599975586},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11040431261062622},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.057440608739852905}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.9151704907417297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7560580968856812},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5682471394538879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5478248000144958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4731130301952362},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4643113613128662},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3514041006565094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3333107829093933},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26215505599975586},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11040431261062622},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.057440608739852905},{"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:10.1017/s0263574700010602","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700010602","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W168786860","https://openalex.org/W1529311779","https://openalex.org/W2036357520","https://openalex.org/W2058822061","https://openalex.org/W2063168630","https://openalex.org/W2064263864","https://openalex.org/W2080017937","https://openalex.org/W2080323255","https://openalex.org/W2089904302","https://openalex.org/W2091174534","https://openalex.org/W2092163612","https://openalex.org/W2129081745","https://openalex.org/W2160256018","https://openalex.org/W2485224251","https://openalex.org/W4210881966"],"related_works":["https://openalex.org/W1495042958","https://openalex.org/W2494338568","https://openalex.org/W2122678784","https://openalex.org/W2282510344","https://openalex.org/W139987158","https://openalex.org/W2183994405","https://openalex.org/W1875646599","https://openalex.org/W2807251790","https://openalex.org/W2349023125","https://openalex.org/W4253006236"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,12],"problem":[2],"of":[3,7,30,38,46,57],"the":[4,28,34,36,49,54,66,69,73],"constrained":[5,50],"motion":[6,32,51],"robot":[8,14,24],"end-effector":[9],"is":[10,15],"discussed.":[11],"redundant":[13],"considered,":[16],"redundancy":[17,52],"being":[18],"added":[19],"in":[20],"order":[21],"to":[22],"improve":[23],"working":[25],"characteristics.":[26],"In":[27],"phase":[29],"free":[31],"towards":[33],"constraint":[35,70],"errors":[37],"basic":[39],"non-redundant":[40],"configuration":[41],"are":[42],"corrected":[43],"by":[44,78],"means":[45],"redundancy.":[47,80],"During":[48],"plays":[53],"role":[55],"either":[56],"active":[58],"or":[59],"passive":[60],"compliance.":[61],"Between":[62],"these":[63],"two":[64],"phases,":[65],"collision":[67],"with":[68],"occurs,":[71],"and":[72],"impact":[74],"can":[75],"be":[76],"absorbed":[77],"using":[79]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
