{"id":"https://openalex.org/W2127832757","doi":"https://doi.org/10.1017/s0263574714001349","title":"Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators","display_name":"Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators","publication_year":2014,"publication_date":"2014-05-22","ids":{"openalex":"https://openalex.org/W2127832757","doi":"https://doi.org/10.1017/s0263574714001349","mag":"2127832757"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001349","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001349","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/A5052115720","display_name":"Bolin Liao","orcid":"https://orcid.org/0000-0001-9036-2723"},"institutions":[{"id":"https://openalex.org/I144581915","display_name":"Jishou University","ror":"https://ror.org/056szk247","country_code":"CN","type":"education","lineage":["https://openalex.org/I144581915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bolin Liao","raw_affiliation_strings":["College of Information Science and Engineering , Jishou University , Jishou 416000 , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering , Jishou University , Jishou 416000 , China","institution_ids":["https://openalex.org/I144581915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100774824","display_name":"Weijun Liu","orcid":"https://orcid.org/0000-0002-6423-168X"},"institutions":[{"id":"https://openalex.org/I4210119042","display_name":"Gannan Normal University","ror":"https://ror.org/02jf7e446","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210119042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijun Liu","raw_affiliation_strings":["\u2021School of Physics and Electronic Information,Gannan Normal University,Ganzhou 341000,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u2021School of Physics and Electronic Information,Gannan Normal University,Ganzhou 341000,China","institution_ids":["https://openalex.org/I4210119042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2238,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.92431044,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"33","issue":"10","first_page":"2100","last_page":"2113"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9947999715805054,"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":0.9873999953269958,"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/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.8412020206451416},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6580443978309631},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.5731903910636902},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5135478973388672},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.49865245819091797},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.4985485076904297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4775053858757019},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.4587858021259308},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4293235242366791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4160974323749542},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.4119282364845276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3971695899963379},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3184574246406555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23579561710357666},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.1924133598804474}],"concepts":[{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.8412020206451416},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6580443978309631},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.5731903910636902},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5135478973388672},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.49865245819091797},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.4985485076904297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4775053858757019},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.4587858021259308},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4293235242366791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4160974323749542},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.4119282364845276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3971695899963379},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3184574246406555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23579561710357666},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.1924133598804474},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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:10.1017/s0263574714001349","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001349","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":[{"id":"https://metadata.un.org/sdg/16","score":0.7599999904632568,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1971608239","https://openalex.org/W1984401712","https://openalex.org/W1987372549","https://openalex.org/W2011961682","https://openalex.org/W2014545454","https://openalex.org/W2037025782","https://openalex.org/W2061159069","https://openalex.org/W2067977053","https://openalex.org/W2113265921","https://openalex.org/W2117990468","https://openalex.org/W2119109765","https://openalex.org/W2133706426","https://openalex.org/W2138045872","https://openalex.org/W2142297251","https://openalex.org/W2142629953","https://openalex.org/W2146475250","https://openalex.org/W2168555065","https://openalex.org/W4240172577"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W1980749193","https://openalex.org/W2899776278","https://openalex.org/W2116626317","https://openalex.org/W2790463165","https://openalex.org/W2051747036","https://openalex.org/W1973219440","https://openalex.org/W2327696790"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"this":[2],"paper,":[3],"a":[4,25,43,85],"pseudoinverse-type":[5,54],"bi-criteria":[6,26,48,102],"minimization":[7,27,49,103],"scheme":[8,28,104],"is":[9],"proposed":[10,101],"and":[11,36,62,97],"investigated":[12],"for":[13],"the":[14,21,30,37,53,59,68,76,95,100],"redundancy":[15,107],"resolution":[16],"of":[17,78,99],"robot":[18,88],"manipulators":[19],"at":[20,75],"joint-acceleration":[22,63],"level.":[23],"Such":[24],"combines":[29],"weighted":[31],"minimum":[32,38],"acceleration":[33],"norm":[34,40],"solution":[35,41],"velocity":[39,70],"via":[42],"weighting":[44],"factor.":[45],"The":[46],"resultant":[47],"scheme,":[50],"formulated":[51],"as":[52],"solution,":[55],"not":[56],"only":[57],"avoids":[58],"high":[60],"joint-velocity":[61],"phenomena":[64],"but":[65],"also":[66],"causes":[67],"joint":[69],"to":[71],"be":[72],"near":[73],"zero":[74],"end":[77],"motion.":[79],"Computer":[80],"simulation":[81],"results":[82],"based":[83],"on":[84,105],"4-Degree-of-Freedom":[86],"planar":[87],"manipulator":[89],"comprising":[90],"revolute":[91],"joints":[92],"further":[93],"verify":[94],"efficacy":[96],"flexibility":[98],"robotic":[106],"resolution.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}