{"id":"https://openalex.org/W2024803487","doi":"https://doi.org/10.1080/10798587.1999.10750757","title":"Hybrid Impedance Control of Redundant Manipulators: An Approach to Decouple Task Space and Null Space Motions","display_name":"Hybrid Impedance Control of Redundant Manipulators: An Approach to Decouple Task Space and Null Space Motions","publication_year":1999,"publication_date":"1999-01-01","ids":{"openalex":"https://openalex.org/W2024803487","doi":"https://doi.org/10.1080/10798587.1999.10750757","mag":"2024803487"},"language":"en","primary_location":{"id":"doi:10.1080/10798587.1999.10750757","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1999.10750757","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Automation & Soft Computing","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/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wan Kyun Chung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062772405","display_name":"Youngil Youm","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Youngil Youm","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5040695331","display_name":"Munsang Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Munsang Kim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.14339603,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"5","issue":"2","first_page":"149","last_page":"164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.831946611404419},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6440987586975098},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.6256112456321716},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6174517869949341},{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.5966185927391052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5089080333709717},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4960657060146332},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48361554741859436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30057293176651},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2680809199810028},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09688150882720947},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.08400115370750427}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.831946611404419},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6440987586975098},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.6256112456321716},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6174517869949341},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.5966185927391052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5089080333709717},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4960657060146332},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48361554741859436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30057293176651},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2680809199810028},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09688150882720947},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.08400115370750427},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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:10.1080/10798587.1999.10750757","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10798587.1999.10750757","pdf_url":null,"source":{"id":"https://openalex.org/S40639465","display_name":"Intelligent Automation & Soft Computing","issn_l":"1079-8587","issn":["1079-8587","2326-005X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Automation & Soft Computing","raw_type":"journal-article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/20400","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/20400","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W1546913035","https://openalex.org/W1559789072","https://openalex.org/W1985883504","https://openalex.org/W1994875265","https://openalex.org/W2014863553","https://openalex.org/W2066379939","https://openalex.org/W2105360813","https://openalex.org/W2106781406","https://openalex.org/W2111521587","https://openalex.org/W2112474089","https://openalex.org/W2124475809","https://openalex.org/W2125150316","https://openalex.org/W2127325969","https://openalex.org/W2127947750","https://openalex.org/W2132058110","https://openalex.org/W2144629157","https://openalex.org/W2148672556","https://openalex.org/W2156102255","https://openalex.org/W2157875307","https://openalex.org/W2160822320","https://openalex.org/W2335583482","https://openalex.org/W3003414503"],"related_works":["https://openalex.org/W2951287487","https://openalex.org/W2314048082","https://openalex.org/W1548357495","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2573372219","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2109744644"],"abstract_inverted_index":{"In":[0],"this":[1,27,89,106],"paper,":[2],"an":[3,82],"approach":[4],"to":[5,11,51,111,121,136],"resolve":[6],"the":[7,13,21,32,47,53,62,74,109,114,138,141],"kinematic":[8],"redundancy":[9],"and":[10,65,78,87],"control":[12,52,113,143],"motion/force":[14],"of":[15,23,56,61,105,127,140],"redundant":[16,57,69,100],"manipulators":[17],"is":[18,71,85,108,119],"presented":[19],"using":[20,88],"concept":[22],"a":[24,37,94],"quasi-coordinate.":[25],"Using":[26],"factorization,":[28],"we":[29,92],"can":[30],"transform":[31],"joint":[33],"space":[34,64,80,116,129],"dynamics":[35],"into":[36],"new":[38,95],"decoupled":[39],"form":[40],"with":[41],"dimensional":[42],"consistency.":[43],"Then":[44],"by":[45],"extracting":[46],"minimal":[48],"null-motion":[49,76],"component":[50,77],"internal":[54],"motion":[55,117],"manipulator,":[58],"inertial":[59],"decoupling":[60],"task":[63,79,128],"null-space":[66],"motions":[67],"for":[68,99],"manipulator":[70],"achieved.":[72],"Combining":[73],"extracted":[75],"variables,":[81],"extended":[83,90],"Jacobian":[84],"constructed":[86],"Jacobian,":[91],"devise":[93],"hybrid":[96],"impedance":[97],"controller":[98,107],"manipulator.":[101],"The":[102],"unique":[103],"feature":[104],"ability":[110],"directly":[112],"null":[115],"which":[118],"known":[120],"have":[122],"strong":[123],"effect":[124],"on":[125],"performance":[126,139],"motion.":[130],"Some":[131],"numerical":[132],"examples":[133],"are":[134],"given":[135],"demonstrate":[137],"proposed":[142],"method.":[144]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}