{"id":"https://openalex.org/W2062226026","doi":"https://doi.org/10.1109/icra.2011.5979550","title":"A lower dimensional task function method for point-to-point control of non-redundant manipulators","display_name":"A lower dimensional task function method for point-to-point control of non-redundant manipulators","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2062226026","doi":"https://doi.org/10.1109/icra.2011.5979550","mag":"2062226026"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5023479187","display_name":"Congwei Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Congwei Zhong","raw_affiliation_strings":["Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","institution_ids":[]},{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100718017","display_name":"Xiang Ji","orcid":"https://orcid.org/0000-0002-7234-6460"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Xiang","raw_affiliation_strings":["Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","institution_ids":[]},{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323790","display_name":"Wei Wei","orcid":"https://orcid.org/0000-0003-0172-7167"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wei","raw_affiliation_strings":["Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","institution_ids":[]},{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014006564","display_name":"Yuanhui Zhang","orcid":"https://orcid.org/0000-0003-1387-5618"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanhui Zhang","raw_affiliation_strings":["Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, University of Zhejiang, China","institution_ids":[]},{"raw_affiliation_string":"Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China#TAB#","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"476","last_page":"481"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955999851226807,"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/redundancy","display_name":"Redundancy (engineering)","score":0.7940345406532288},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6687682867050171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6377334594726562},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6371515989303589},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5693530440330505},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.563115656375885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5298706293106079},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5267688035964966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5047191381454468},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.45741838216781616},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4175602197647095},{"id":"https://openalex.org/keywords/point-to-point","display_name":"Point-to-point","score":0.41309651732444763},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4026375412940979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2880218029022217},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22173410654067993},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1890074610710144},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14020776748657227}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7940345406532288},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6687682867050171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6377334594726562},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6371515989303589},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5693530440330505},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.563115656375885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5298706293106079},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5267688035964966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5047191381454468},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.45741838216781616},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4175602197647095},{"id":"https://openalex.org/C174440990","wikidata":"https://www.wikidata.org/wiki/Q681349","display_name":"Point-to-point","level":2,"score":0.41309651732444763},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4026375412940979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2880218029022217},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22173410654067993},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1890074610710144},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14020776748657227},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.550000011920929,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W1509235676","https://openalex.org/W1560270123","https://openalex.org/W1970494767","https://openalex.org/W1982442957","https://openalex.org/W2010964085","https://openalex.org/W2024145790","https://openalex.org/W2025302331","https://openalex.org/W2032381729","https://openalex.org/W2042913147","https://openalex.org/W2058408366","https://openalex.org/W2058544403","https://openalex.org/W2062048588","https://openalex.org/W2079775715","https://openalex.org/W2097447571","https://openalex.org/W2104644350","https://openalex.org/W2107304747","https://openalex.org/W2113260111","https://openalex.org/W2119403459","https://openalex.org/W2125827767","https://openalex.org/W2135608430","https://openalex.org/W2149186423","https://openalex.org/W2153195092","https://openalex.org/W2158021637","https://openalex.org/W2163024297","https://openalex.org/W2207056292","https://openalex.org/W4206820429","https://openalex.org/W6600740208","https://openalex.org/W6675876919"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposed":[2],"a":[3,27,43],"task":[4,18,24,71],"function":[5,19,72],"method":[6,73],"for":[7],"the":[8,22,34,39,70,79,83,93,96],"point-to-point":[9],"(PTP)":[10],"control":[11,52,85],"problem":[12,86],"of":[13,69,82,95],"non-redundant":[14],"robot":[15],"manipulators.":[16],"A":[17],"to":[20,26,54,77],"compress":[21],"conventional":[23],"space":[25],"new":[28],"one":[29],"with":[30],"lower":[31],"dimensions":[32],"increases":[33],"redundancy":[35],"degree":[36],"so":[37],"that":[38,47],"original":[40],"manipulator":[41],"becomes":[42],"redundant":[44,51],"one,":[45],"such":[46,58],"we":[48],"can":[49],"apply":[50],"laws":[53],"achieve":[55],"online":[56],"subtasks,":[57],"as":[59],"obstacle":[60],"avoidance":[61],"without":[62],"trajectory":[63],"replanning.":[64],"The":[65,89],"four":[66],"basic":[67],"properties":[68],"which":[74],"are":[75,87],"necessary":[76],"ensure":[78],"good":[80],"performance":[81],"PTP":[84],"presented.":[88],"experiment":[90],"results":[91],"verify":[92],"effectiveness":[94],"presented":[97],"method.":[98]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}