{"id":"https://openalex.org/W2069389650","doi":"https://doi.org/10.1017/s0263574703005411","title":"Velocity performance indices for parallel mechanisms with actuation redundancy","display_name":"Velocity performance indices for parallel mechanisms with actuation redundancy","publication_year":2004,"publication_date":"2004-03-01","ids":{"openalex":"https://openalex.org/W2069389650","doi":"https://doi.org/10.1017/s0263574703005411","mag":"2069389650"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574703005411","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574703005411","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0F36EED1505F8040D1ECB6A0402150DC/S0263574703005411a.pdf/div-class-title-velocity-performance-indices-for-parallel-mechanisms-with-actuation-redundancy-div.pdf","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":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0F36EED1505F8040D1ECB6A0402150DC/S0263574703005411a.pdf/div-class-title-velocity-performance-indices-for-parallel-mechanisms-with-actuation-redundancy-div.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5105424584","display_name":"S\u00e9bastien Krut","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S\u00e9bastien Krut","raw_affiliation_strings":["LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France) E-mail:","LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France) E-mail: [email\u00a0protected]#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France) E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France) E-mail: [email\u00a0protected]#TAB#","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039128487","display_name":"Fran\u00e7ois Pierrot","orcid":"https://orcid.org/0000-0002-9638-4357"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Fran\u00e7ois Pierrot","raw_affiliation_strings":["LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France) E-mail:","LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France) E-mail:","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, UMR 5506, CNRS-UM2, 161 rue Ada, 34392 Montpellier cedex 5 (France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6146,"has_fulltext":true,"cited_by_count":42,"citation_normalized_percentile":{"value":0.89847336,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"22","issue":"2","first_page":"129","last_page":"139"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9922000169754028,"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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9901000261306763,"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/ellipsoid","display_name":"Ellipsoid","score":0.9289552569389343},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7898550033569336},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.6481134295463562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5533620119094849},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4511158764362335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38894912600517273},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36496543884277344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3338066339492798},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32489585876464844},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19182348251342773},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.06733235716819763},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.05679839849472046}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.9289552569389343},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7898550033569336},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.6481134295463562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5533620119094849},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4511158764362335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38894912600517273},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36496543884277344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3338066339492798},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32489585876464844},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19182348251342773},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.06733235716819763},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05679839849472046},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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":2,"locations":[{"id":"doi:10.1017/s0263574703005411","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574703005411","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0F36EED1505F8040D1ECB6A0402150DC/S0263574703005411a.pdf/div-class-title-velocity-performance-indices-for-parallel-mechanisms-with-actuation-redundancy-div.pdf","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"},{"id":"pmh:oai:HAL:lirmm-00108547v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108547","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2004, Vol. 22 (Part 2), pp.129-139. &#x27E8;10.1017/S0263574703005411&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1017/s0263574703005411","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574703005411","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/0F36EED1505F8040D1ECB6A0402150DC/S0263574703005411a.pdf/div-class-title-velocity-performance-indices-for-parallel-mechanisms-with-actuation-redundancy-div.pdf","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"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2069389650.pdf","grobid_xml":"https://content.openalex.org/works/W2069389650.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W141659687","https://openalex.org/W983375313","https://openalex.org/W1556511118","https://openalex.org/W1975468089","https://openalex.org/W2003025902","https://openalex.org/W2030190888","https://openalex.org/W2049410986","https://openalex.org/W2062653996","https://openalex.org/W2066133103","https://openalex.org/W2070917084","https://openalex.org/W2072550641","https://openalex.org/W2085545845","https://openalex.org/W2098502158","https://openalex.org/W2103212028","https://openalex.org/W2108128833","https://openalex.org/W2121620385","https://openalex.org/W2158135966","https://openalex.org/W2166328906","https://openalex.org/W2168134579","https://openalex.org/W2173462388","https://openalex.org/W2324665307","https://openalex.org/W4300240139","https://openalex.org/W6662597783","https://openalex.org/W6683342738","https://openalex.org/W6685272475"],"related_works":["https://openalex.org/W1986006778","https://openalex.org/W2390718407","https://openalex.org/W2005485125","https://openalex.org/W2085363807","https://openalex.org/W2034124193","https://openalex.org/W2379017606","https://openalex.org/W2156319555","https://openalex.org/W2941765012","https://openalex.org/W2171970890","https://openalex.org/W2987611211"],"abstract_inverted_index":{"This":[0],"paper":[1],"analyses":[2],"the":[3,22,35,40,44,63,71,77,92],"concept":[4],"of":[5,17,51,66],"velocity":[6],"isotropy":[7],"for":[8,84],"Parallel":[9],"Mechanisms":[10],"with":[11,83],"Actuation":[12],"Redundancy":[13],"(PMAR).":[14],"The":[15,55],"limits":[16],"classical":[18,78],"indices":[19,88],"based":[20],"on":[21],"Jacobean":[23],"matrix":[24],"condition":[25],"number":[26],"are":[27,81,89,98],"shown.":[28],"It":[29],"is":[30,57,61],"proposed":[31],"to":[32,76,94],"use":[33],"either":[34],"largest":[36,72],"ellipsoid":[37,73],"included":[38],"in":[39],"operational":[41,45],"polytop,":[42],"or":[43],"polytop":[46,56],"itself,":[47],"as":[48],"better":[49],"representations":[50],"a":[52,67],"PMAR":[53],"capabilities.":[54],"studied":[58],"because":[59],"it":[60],"actually":[62],"accurate":[64],"representation":[65],"machine":[68],"capability,":[69],"while":[70],"remains":[74],"similar":[75],"tool":[79],"roboticists":[80],"dealing":[82],"decades.":[85],"Velocity":[86],"performance":[87],"proposed,":[90],"and":[91],"ways":[93],"compute":[95],"them":[96],"efficiently":[97],"given.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2016-06-24T00:00:00"}
