{"id":"https://openalex.org/W4285102364","doi":"https://doi.org/10.1109/icra46639.2022.9812095","title":"Computation of Dynamic Joint Reaction Forces of PKM and its Use for Load-Minimizing Trajectory Planning","display_name":"Computation of Dynamic Joint Reaction Forces of PKM and its Use for Load-Minimizing Trajectory Planning","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102364","doi":"https://doi.org/10.1109/icra46639.2022.9812095"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812095","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-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/A5063127877","display_name":"Daniel Gnad","orcid":"https://orcid.org/0000-0002-5775-8459"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"D. Gnad","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University Linz,Austria","Institute of Robotics, Johannes Kepler University Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz,Austria","institution_ids":["https://openalex.org/I121883995"]},{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049498640","display_name":"Hubert Gattringer","orcid":"https://orcid.org/0000-0002-8846-9051"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"H. Gattringer","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University Linz,Austria","Institute of Robotics, Johannes Kepler University Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz,Austria","institution_ids":["https://openalex.org/I121883995"]},{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112392532","display_name":"Andreas M\u00fcller","orcid":"https://orcid.org/0000-0001-5033-340X"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"A. Muller","raw_affiliation_strings":["Institute of Robotics, Johannes Kepler University Linz,Austria","Institute of Robotics, Johannes Kepler University Linz, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz,Austria","institution_ids":["https://openalex.org/I121883995"]},{"raw_affiliation_string":"Institute of Robotics, Johannes Kepler University Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003725027","display_name":"Wolfgang H\u00f6barth","orcid":"https://orcid.org/0009-0009-2281-6733"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"W. Hobarth","raw_affiliation_strings":["B&R Industrial Automation,Eggelsberg,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"B&R Industrial Automation,Eggelsberg,Austria","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082652234","display_name":"Roland Riepl","orcid":"https://orcid.org/0000-0003-3409-4116"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"R. Riepl","raw_affiliation_strings":["B&R Industrial Automation,Eggelsberg,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"B&R Industrial Automation,Eggelsberg,Austria","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048238079","display_name":"Lukas Messner","orcid":"https://orcid.org/0009-0004-5949-5762"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"L. Messner","raw_affiliation_strings":["B&R Industrial Automation,Eggelsberg,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"B&R Industrial Automation,Eggelsberg,Austria","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7015,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.58371906,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4848","last_page":"4854"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9980999827384949,"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":0.9957000017166138,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7061035633087158},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7006714344024658},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.636063277721405},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6230261325836182},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6129345297813416},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5946763157844543},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5714188814163208},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.56276935338974},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5563021302223206},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5451686382293701},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5276449918746948},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46156802773475647},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.4451500475406647},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4375465512275696},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4226524233818054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.333207368850708},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2249070107936859},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21201732754707336},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2003423273563385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12897989153862},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1160605251789093},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09022802114486694},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08145105838775635}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7061035633087158},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7006714344024658},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.636063277721405},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6230261325836182},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6129345297813416},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5946763157844543},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5714188814163208},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.56276935338974},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5563021302223206},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5451686382293701},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5276449918746948},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46156802773475647},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.4451500475406647},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4375465512275696},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4226524233818054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.333207368850708},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2249070107936859},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21201732754707336},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2003423273563385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12897989153862},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1160605251789093},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09022802114486694},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08145105838775635},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812095","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W4659064","https://openalex.org/W9955790","https://openalex.org/W1505660892","https://openalex.org/W1553636676","https://openalex.org/W1604610109","https://openalex.org/W1964417386","https://openalex.org/W1996776710","https://openalex.org/W2018831824","https://openalex.org/W2021316863","https://openalex.org/W2042603693","https://openalex.org/W2057134777","https://openalex.org/W2084659102","https://openalex.org/W2089295375","https://openalex.org/W2097698503","https://openalex.org/W2107769881","https://openalex.org/W2113525525","https://openalex.org/W2115091574","https://openalex.org/W2117129061","https://openalex.org/W2164136324","https://openalex.org/W2334772301","https://openalex.org/W2802393534","https://openalex.org/W3011794266","https://openalex.org/W3134319763","https://openalex.org/W3176361042","https://openalex.org/W4211264357","https://openalex.org/W4243385754","https://openalex.org/W4244037851","https://openalex.org/W4297819560","https://openalex.org/W6600186776","https://openalex.org/W6600406320"],"related_works":["https://openalex.org/W2023674908","https://openalex.org/W2514539214","https://openalex.org/W4231681387","https://openalex.org/W1901764153","https://openalex.org/W1559079198","https://openalex.org/W2898977507","https://openalex.org/W148098187","https://openalex.org/W2368795201","https://openalex.org/W2184597437","https://openalex.org/W2170718116"],"abstract_inverted_index":{"Parallel":[0],"kinematics":[1],"machines":[2],"(PKM)":[3],"operate":[4],"with":[5,51,85],"maximal":[6],"acceleration":[7],"being":[8],"designed":[9],"for":[10,28,59,118,126,164],"highly":[11],"dynamic":[12],"manipulation":[13],"tasks.":[14],"This":[15],"leads":[16],"to":[17,141,151],"extreme":[18],"loads":[19],"of":[20,68,133,144,171],"the":[21,30,46,52,69,90,96,101,127,134,142],"joints,":[22],"which":[23,43,121],"is":[24,41,107,157],"usually":[25],"not":[26,123],"accounted":[27],"in":[29],"motion":[31,62,91,98],"planning.":[32],"In":[33],"this":[34,72],"paper":[35],"an":[36],"extended":[37],"inverse":[38],"dynamics":[39],"method":[40,106,156],"introduced,":[42],"allows":[44,117],"computing":[45],"joint":[47,81],"reaction":[48],"forces":[49],"along":[50],"actuation":[53],"torques,":[54],"and":[55,64,116,159,168],"provides":[56],"a":[57,165,172],"basis":[58],"time":[60],"optimal":[61],"planning":[63],"control":[65],"minimizing":[66],"wear":[67],"components.":[70],"To":[71],"end,":[73],"PKM":[74],"are":[75,83,114,162],"modeled":[76],"using":[77],"absolute":[78,145],"coordinates.":[79],"The":[80,104,131,155],"constraints":[82,87],"complemented":[84],"servo":[86],"so":[88],"that":[89],"can":[92,147],"be":[93,124,148],"described":[94],"by":[95,100],"actuator":[97],"or":[99],"end-effector":[102],"motion.":[103],"presented":[105],"particularly":[108],"advantageous":[109],"when":[110],"certain":[111],"model":[112,119],"parameters":[113],"unknown":[115],"simplification,":[120],"would":[122],"possible":[125],"relative":[128],"coordinate":[129],"formulation.":[130],"sparsity":[132],"obtained":[135],"velocity":[136],"constraint":[137],"Jacobian":[138],"matrix,":[139],"due":[140],"use":[143],"coordinates,":[146],"efficiently":[149],"exploited":[150],"minimize":[152],"computation":[153],"time.":[154],"demonstrated":[158],"numerical":[160],"results":[161],"reported":[163],"time-optimal":[166],"pick":[167],"place":[169],"movement":[170],"4-DOF":[173],"Delta":[174],"robot.":[175]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}