{"id":"https://openalex.org/W2169520921","doi":"https://doi.org/10.1017/s0263574702004204","title":"On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace","display_name":"On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace","publication_year":2002,"publication_date":"2002-11-01","ids":{"openalex":"https://openalex.org/W2169520921","doi":"https://doi.org/10.1017/s0263574702004204","mag":"2169520921"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574702004204","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004204","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/A5101747073","display_name":"Jinliang Chen","orcid":"https://orcid.org/0000-0003-2788-1226"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jin-Liang Chen","raw_affiliation_strings":["Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)","institution_ids":["https://openalex.org/I4210098366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034523100","display_name":"Jing\u2010Sin Liu","orcid":"https://orcid.org/0000-0002-4935-8965"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jing-Sin Liu","raw_affiliation_strings":["Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)","institution_ids":["https://openalex.org/I4210098366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005988683","display_name":"Wan\u2010Chi Lee","orcid":"https://orcid.org/0000-0003-4262-5386"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wan-Chi Lee","raw_affiliation_strings":["Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)","institution_ids":["https://openalex.org/I4210098366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003487758","display_name":"Tzu-Chen Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tzu-Chen Liang","raw_affiliation_strings":["Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Institute of Information Science 20, Academia Sinica, Nankang, Taipei 115, Taiwan (R.O.C.)","institution_ids":["https://openalex.org/I4210098366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210098366"],"apc_list":null,"apc_paid":null,"fwci":0.4656,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.6676071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"20","issue":"6","first_page":"625","last_page":"636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9994999766349792,"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/workspace","display_name":"Workspace","score":0.8483991622924805},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6838571429252625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5542617440223694},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5266347527503967},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5178173184394836},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.4461400508880615},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4433780014514923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4394330084323883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38910236954689026},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22840431332588196},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12995922565460205},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07812309265136719}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8483991622924805},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6838571429252625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5542617440223694},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5266347527503967},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5178173184394836},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4461400508880615},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4433780014514923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4394330084323883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38910236954689026},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22840431332588196},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12995922565460205},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07812309265136719},{"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/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/s0263574702004204","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004204","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1525865682","https://openalex.org/W1969593545","https://openalex.org/W1969874316","https://openalex.org/W1978301848","https://openalex.org/W1981483064","https://openalex.org/W1982442957","https://openalex.org/W1987443491","https://openalex.org/W2016727862","https://openalex.org/W2039367169","https://openalex.org/W2042803738","https://openalex.org/W2051077118","https://openalex.org/W2057578039","https://openalex.org/W2058544403","https://openalex.org/W2067320357","https://openalex.org/W2096057088","https://openalex.org/W2098041149","https://openalex.org/W2100476631","https://openalex.org/W2103120971","https://openalex.org/W2113260111","https://openalex.org/W2120713930","https://openalex.org/W2129644801","https://openalex.org/W2134803260","https://openalex.org/W2143445801","https://openalex.org/W2148882470","https://openalex.org/W2150366652","https://openalex.org/W2150500908","https://openalex.org/W2155549020","https://openalex.org/W2166316739","https://openalex.org/W2166518498","https://openalex.org/W2167740988"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2090392331","https://openalex.org/W3122438115","https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220"],"abstract_inverted_index":{"The":[0,139],"manipulator":[1,33],"with":[2],"a":[3,35,39,49,55,61,158,204],"large":[4],"degree":[5],"of":[6,27,31,72,92,110,113,134,148,154,169,187],"redundancy":[7,63,128],"is":[8,82,137,172],"useful":[9],"for":[10,127,195],"realizing":[11],"multiple":[12,108],"tasks":[13],"such":[14],"as":[15,123,203],"maneuvering":[16,28,210],"the":[17,21,25,29,32,70,86,93,111,117,120,124,135,161,170,176,183,188,196,200],"robotic":[18],"arms":[19],"in":[20,60,150,191,209],"constrained":[22,214],"workspace,":[23],"e.g.":[24],"task":[26,126],"end-effector":[30,118],"along":[34],"pre-specified":[36],"path":[37],"into":[38],"window.":[40],"This":[41,66],"paper":[42],"presents":[43],"an":[44,78,104],"on-line":[45],"technique":[46],"based":[47],"on":[48,89],"posture":[50,97,149,155,171],"generation":[51],"rule":[52,67],"to":[53,76,156,175],"compute":[54],"null-space":[56,206],"joint":[57,145,201],"velocity":[58],"vector":[59,208],"singularity-robust":[62,205],"resolution":[64],"method.":[65],"suggests":[68],"that":[69,81],"end":[71,133],"each":[73,114],"link":[74,115,122,136],"has":[75],"track":[77],"implicit":[79],"trajectory":[80],"indirectly":[83],"resulted":[84],"from":[85,116],"constraint":[87],"imposed":[88],"tracking":[90],"motion":[91],"end-effector.":[94],"A":[95],"proper":[96,193],"can":[98],"be":[99],"determined":[100],"by":[101,130],"sequentially":[102],"optimizing":[103],"objective":[105],"function":[106],"integrating":[107],"criteria":[109,140],"orientation":[112],"toward":[119],"base":[121],"secondary":[125,164],"resolution,":[129],"assuming":[131],"one":[132],"clamped.":[138],"flexibly":[141],"incorporate":[142],"obstacle":[143],"avoidance,":[144],"limits,":[146],"preference":[147],"tracking,":[151],"and":[152,163,185,199],"connection":[153],"realize":[157],"compromise":[159],"between":[160],"primary":[162],"tasks.":[165],"Furthermore,":[166],"computational":[167],"demanding":[168],"reduced":[173],"due":[174],"sequential":[177],"link-by-link":[178],"computation":[179],"feature.":[180],"Simulations":[181],"show":[182],"effectiveness":[184],"flexibility":[186],"proposed":[189],"method":[190],"generating":[192],"postures":[194],"collision":[197],"avoidance":[198],"limits":[202],"projection":[207],"redundant":[211],"robots":[212],"within":[213],"workspaces.":[215]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
