{"id":"https://openalex.org/W3160842974","doi":"https://doi.org/10.1017/s026357472100045x","title":"Inverse kinematics of redundant manipulators with guaranteed performance","display_name":"Inverse kinematics of redundant manipulators with guaranteed performance","publication_year":2021,"publication_date":"2021-05-18","ids":{"openalex":"https://openalex.org/W3160842974","doi":"https://doi.org/10.1017/s026357472100045x","mag":"3160842974"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472100045x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472100045x","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/A5101794547","display_name":"Dongsheng Guo","orcid":"https://orcid.org/0000-0002-9236-229X"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dongsheng Guo","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China"],"raw_orcid":"https://orcid.org/0000-0002-9236-229X","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054745100","display_name":"Aifen Li","orcid":"https://orcid.org/0000-0003-1552-3448"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aifen Li","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076788733","display_name":"Jianhuang Cai","orcid":"https://orcid.org/0000-0002-5627-0697"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhuang Cai","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065053477","display_name":"Qingshan Feng","orcid":"https://orcid.org/0000-0002-3902-4005"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingshan Feng","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yang Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I78978612","display_name":"Yangzhou University","ror":"https://ror.org/03tqb8s11","country_code":"CN","type":"education","lineage":["https://openalex.org/I78978612"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Shi","raw_affiliation_strings":["School of Information Engineering, Yangzhou University, Yangzhou 225127, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Engineering, Yangzhou University, Yangzhou 225127, China","institution_ids":["https://openalex.org/I78978612"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101794547"],"corresponding_institution_ids":["https://openalex.org/I119045251"],"apc_list":null,"apc_paid":null,"fwci":1.3876,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80607015,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"40","issue":"1","first_page":"170","last_page":"190"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9955000281333923,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8386180400848389},{"id":"https://openalex.org/keywords/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.7664963006973267},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6772253513336182},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6714147925376892},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6653738021850586},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6340271830558777},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5690171718597412},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5480948090553284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.502629280090332},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.49920105934143066},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4571021795272827},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.45465564727783203},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4514819085597992},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4141787886619568},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3662567436695099},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.365854412317276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1924229860305786},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11923825740814209},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1179547905921936},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.08731964230537415}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8386180400848389},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.7664963006973267},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6772253513336182},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6714147925376892},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6653738021850586},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6340271830558777},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5690171718597412},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5480948090553284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.502629280090332},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.49920105934143066},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4571021795272827},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.45465564727783203},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4514819085597992},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4141787886619568},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3662567436695099},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.365854412317276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1924229860305786},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11923825740814209},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1179547905921936},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.08731964230537415},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357472100045x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472100045x","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":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W76314153","https://openalex.org/W405308472","https://openalex.org/W1504986959","https://openalex.org/W1564897360","https://openalex.org/W1971608239","https://openalex.org/W1971893566","https://openalex.org/W1977431861","https://openalex.org/W2073554986","https://openalex.org/W2129644801","https://openalex.org/W2139647291","https://openalex.org/W2145040001","https://openalex.org/W2145211241","https://openalex.org/W2161874062","https://openalex.org/W2266847535","https://openalex.org/W2290458263","https://openalex.org/W2586643027","https://openalex.org/W2762047082","https://openalex.org/W2764226165","https://openalex.org/W2783505362","https://openalex.org/W2792852625","https://openalex.org/W2792976465","https://openalex.org/W2806365404","https://openalex.org/W2889005814","https://openalex.org/W2896719349","https://openalex.org/W2906482729","https://openalex.org/W2912762242","https://openalex.org/W2915278269","https://openalex.org/W2915648089","https://openalex.org/W2936973782","https://openalex.org/W2943086224","https://openalex.org/W2945488196","https://openalex.org/W2946314455","https://openalex.org/W2955749729","https://openalex.org/W2962804366","https://openalex.org/W2963562974","https://openalex.org/W2963694961","https://openalex.org/W2968077796","https://openalex.org/W2973843340","https://openalex.org/W2989641972","https://openalex.org/W2995281921","https://openalex.org/W2998865449","https://openalex.org/W2998963537","https://openalex.org/W3003250870","https://openalex.org/W3004804634","https://openalex.org/W3046547258","https://openalex.org/W3049462746","https://openalex.org/W3086681710","https://openalex.org/W3217246742","https://openalex.org/W4210595706","https://openalex.org/W4240172577","https://openalex.org/W4247080625"],"related_works":["https://openalex.org/W2125355805","https://openalex.org/W2063530331","https://openalex.org/W2969153248","https://openalex.org/W2365003569","https://openalex.org/W2633521073","https://openalex.org/W2115240519","https://openalex.org/W4376866214","https://openalex.org/W2119405656","https://openalex.org/W2080642692","https://openalex.org/W2678304556"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2],"paper,":[3],"the":[4,16,43,68,93,112,118,121,125],"inverse":[5],"kinematics":[6],"(IK)":[7],"of":[8,18,70,117],"redundant":[9,71,90],"manipulators":[10,91],"is":[11,22,31,53,60],"presented":[12],"and":[13,33,59,80,105,114,124],"studied,":[14],"where":[15],"performance":[17,66,116],"end-effector":[19],"path":[20,76],"planning":[21,77],"guaranteed.":[23],"A":[24,73],"new":[25],"Jacobian":[26],"pseudoinverse":[27],"(JP)-based":[28],"IK":[29,45,69,128],"method":[30,46,52],"proposed":[32,51,94,126],"studied":[34],"using":[35,92],"a":[36,56,81,101,106],"typical":[37],"numerical":[38],"difference":[39],"rule":[40],"to":[41,63,110],"discretize":[42],"existing":[44],"based":[47],"on":[48,100],"JP.":[49],"The":[50],"depicted":[54],"in":[55,67],"discrete-time":[57,74,82],"form":[58],"theoretically":[61],"proven":[62],"exhibit":[64],"great":[65],"manipulators.":[72],"repetitive":[75],"(DTRPP)":[78],"scheme":[79,86],"obstacle":[83],"avoidance":[84],"(DTOA)":[85],"are":[87,98],"developed":[88],"for":[89],"method.":[95,129],"Comparative":[96],"simulations":[97],"conducted":[99],"universal":[102],"robot":[103,108],"manipulator":[104,109],"PA10":[107],"validate":[111],"effectiveness":[113],"superior":[115],"DTRPP":[119],"scheme,":[120,123],"DTOA":[122],"JP-based":[127]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}