{"id":"https://openalex.org/W2782570193","doi":"https://doi.org/10.1109/lra.2018.2792541","title":"A Pragmatic Approach to Exploiting Full Force Capacity for Serial Redundant Manipulators","display_name":"A Pragmatic Approach to Exploiting Full Force Capacity for Serial Redundant Manipulators","publication_year":2018,"publication_date":"2018-01-12","ids":{"openalex":"https://openalex.org/W2782570193","doi":"https://doi.org/10.1109/lra.2018.2792541","mag":"2782570193"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2792541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792541","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10985/14555","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081166157","display_name":"David Busson","orcid":"https://orcid.org/0000-0001-7452-9685"},"institutions":[{"id":"https://openalex.org/I190752583","display_name":"ParisTech","ror":"https://ror.org/05c2qg481","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583"]},{"id":"https://openalex.org/I190861549","display_name":"Arts et M\u00e9tiers","ror":"https://ror.org/018pp1107","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"David Busson","raw_affiliation_strings":["Laboratoire des Sciences de l\u2019Information et des Syst\u00e8mes (LSIS UMR C.N.R.S. 7296), Arts et M\u00e9tiers ParisTech, Lille, France"],"raw_orcid":"https://orcid.org/0000-0001-7452-9685","affiliations":[{"raw_affiliation_string":"Laboratoire des Sciences de l\u2019Information et des Syst\u00e8mes (LSIS UMR C.N.R.S. 7296), Arts et M\u00e9tiers ParisTech, Lille, France","institution_ids":["https://openalex.org/I190861549","https://openalex.org/I190752583","https://openalex.org/I4210114274"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071725414","display_name":"Richard B\u00e9ar\u00e9e","orcid":"https://orcid.org/0000-0002-6186-0755"},"institutions":[{"id":"https://openalex.org/I190752583","display_name":"ParisTech","ror":"https://ror.org/05c2qg481","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583"]},{"id":"https://openalex.org/I190861549","display_name":"Arts et M\u00e9tiers","ror":"https://ror.org/018pp1107","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]},{"id":"https://openalex.org/I4210151275","display_name":"Laboratoire d\u2019Ing\u00e9nierie des Syst\u00e8mes Physiques et Num\u00e9riques","ror":"https://ror.org/055449294","country_code":"FR","type":"facility","lineage":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210134562","https://openalex.org/I4210151275"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Richard Bearee","raw_affiliation_strings":["Laboratoire des Sciences de l\u2019Information et des Syst\u00e8mes (LSIS UMR C.N.R.S. 7296), Arts et M\u00e9tiers ParisTech, Lille, France","LSIS- INSM - Laboratoire des Sciences de l'Information et des Syst\u00e8mes : Ing\u00e9nierie Num\u00e9rique des Syst\u00e8mes M\u00e9caniques (Arts et M\u00e9tiers ParisTech - Centre d'Aix-en-Provence 2, cours des Arts et M\u00e9tiers, 13617 Aix-en-Provence - France)","LISPEN - Laboratoire d\u2019Ing\u00e9nierie des Syst\u00e8mes Physiques et Num\u00e9riques (F-13617 Aix-en-Provence                              F-71100 Chalon-Sur-Sa\u00f4ne                                        F-59000 Lille - France)"],"raw_orcid":"https://orcid.org/0000-0002-6186-0755","affiliations":[{"raw_affiliation_string":"Laboratoire des Sciences de l\u2019Information et des Syst\u00e8mes (LSIS UMR C.N.R.S. 7296), Arts et M\u00e9tiers ParisTech, Lille, France","institution_ids":["https://openalex.org/I190861549","https://openalex.org/I190752583","https://openalex.org/I4210114274"]},{"raw_affiliation_string":"LSIS- INSM - Laboratoire des Sciences de l'Information et des Syst\u00e8mes : Ing\u00e9nierie Num\u00e9rique des Syst\u00e8mes M\u00e9caniques (Arts et M\u00e9tiers ParisTech - Centre d'Aix-en-Provence 2, cours des Arts et M\u00e9tiers, 13617 Aix-en-Provence - France)","institution_ids":["https://openalex.org/I4210151275","https://openalex.org/I190752583","https://openalex.org/I4210114274"]},{"raw_affiliation_string":"LISPEN - Laboratoire d\u2019Ing\u00e9nierie des Syst\u00e8mes Physiques et Num\u00e9riques (F-13617 Aix-en-Provence                              F-71100 Chalon-Sur-Sa\u00f4ne                                        F-59000 Lille - France)","institution_ids":["https://openalex.org/I4210151275"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5081166157"],"corresponding_institution_ids":["https://openalex.org/I190752583","https://openalex.org/I190861549","https://openalex.org/I4210114274"],"apc_list":null,"apc_paid":null,"fwci":0.5619,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.65806387,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":"2","first_page":"888","last_page":"894"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8076262474060059},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6613803505897522},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.6040228605270386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6017354726791382},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5847271680831909},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5837980508804321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5617794990539551},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4970121681690216},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3826793134212494},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35371047258377075},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33913734555244446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2688848376274109},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2596571445465088},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15053370594978333},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0869150459766388}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8076262474060059},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6613803505897522},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.6040228605270386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6017354726791382},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5847271680831909},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5837980508804321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5617794990539551},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4970121681690216},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3826793134212494},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35371047258377075},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33913734555244446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2688848376274109},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2596571445465088},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15053370594978333},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0869150459766388},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2792541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792541","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:sam.ensam.eu:10985/14555","is_oa":true,"landing_page_url":"http://hdl.handle.net/10985/14555","pdf_url":"http://hdl.handle.net/10985/14555","source":{"id":"https://openalex.org/S4306400009","display_name":"SAM, the Arts et M\u00e9tiers ParisTech open access repository (Paris Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190752583","host_organization_name":"ParisTech","host_organization_lineage":["https://openalex.org/I190752583"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hdl.handle.net/10985/14555","raw_type":null},{"id":"pmh:oai:HAL:hal-02766243v1","is_oa":false,"landing_page_url":"https://hal.science/hal-02766243","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2018, 3 (2), pp.888-894. &#x27E8;10.1109/LRA.2018.2792541&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:sam.ensam.eu:10985/14555","is_oa":true,"landing_page_url":"http://hdl.handle.net/10985/14555","pdf_url":"http://hdl.handle.net/10985/14555","source":{"id":"https://openalex.org/S4306400009","display_name":"SAM, the Arts et M\u00e9tiers ParisTech open access repository (Paris Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190752583","host_organization_name":"ParisTech","host_organization_lineage":["https://openalex.org/I190752583"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hdl.handle.net/10985/14555","raw_type":null},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/12","display_name":"Responsible consumption and production","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2782570193.pdf"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W796041032","https://openalex.org/W1896435690","https://openalex.org/W2043490072","https://openalex.org/W2049410986","https://openalex.org/W2054478282","https://openalex.org/W2111312451","https://openalex.org/W2113265921","https://openalex.org/W2139795879","https://openalex.org/W2152916401","https://openalex.org/W2170325269","https://openalex.org/W2171025682","https://openalex.org/W2765300328","https://openalex.org/W3193508208","https://openalex.org/W4243385754","https://openalex.org/W6622855917","https://openalex.org/W7001322157"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2975514431","https://openalex.org/W3090651099","https://openalex.org/W847404441","https://openalex.org/W2971446651","https://openalex.org/W2000145385","https://openalex.org/W1974072120","https://openalex.org/W3082835097","https://openalex.org/W2056483949","https://openalex.org/W1969497836"],"abstract_inverted_index":{"Considering":[0],"a":[1,25,52,62,65,71,94,122,129,148,152,217],"set":[2],"of":[3,16,21,33,74,82,134,147,178,191,252],"robotic":[4],"tasks":[5],"which":[6,79,137],"involve":[7],"physical":[8,95],"interaction":[9,96],"with":[10,59],"the":[11,13,17,22,29,80,83,110,113,144,160,176,179,250,253],"environment,":[12],"theoretical":[14],"knowledge":[15],"full":[18,145],"force":[19,149,208],"capacity":[20,150,209],"manipulator":[23,154],"is":[24,140,212],"key":[26],"factor":[27],"in":[28,54,70,78,97,106,136],"design":[30],"or":[31,171,186,225],"development":[32],"an":[34],"efficient":[35],"and":[36,155,163,181,229],"economically":[37],"attractive":[38],"solution.":[39],"Carrying":[40],"its":[41],"own":[42],"weight":[43],"while":[44,100],"countering":[45],"forces":[46,173,193],"may":[47,85,89,102,165,185,187,230],"be":[48,90,103,200],"too":[49],"much":[50],"for":[51,121,131,151,220,234],"robot":[53,66,84],"certain":[55],"configurations.":[56],"Kinematic":[57],"redundancy":[58,139,221,227],"regard":[60],"to":[61,67,92,112,142,168,248],"task":[63,156],"allows":[64],"perform":[68],"it":[69,101],"continuous":[72],"space":[73,77],"articular":[75],"configurations;":[76],"payload":[81,124],"vary":[86],"dramatically.":[87],"It":[88],"impossible":[91],"withstand":[93],"some":[98],"configurations,":[99],"easily":[104],"sustainable":[105],"others":[107],"that":[108],"bring":[109],"end-effector":[111,235],"same":[114],"location.":[115],"This":[116,126],"becomes":[117],"obviously":[118],"more":[119],"prevalent":[120],"limited":[123],"robot.":[125],"letter":[127],"describes":[128],"framework":[130],"these":[132],"kind":[133],"operations,":[135],"kinematic":[138],"used":[141,247],"explore":[143],"extent":[146],"given":[153,202],"(in":[157],"this":[158],"letter,":[159],"terms":[161],"\u201cforce\u201d":[162],"\u201cwrench\u201d":[164],"interchangeably":[166],"refer":[167],"two-,":[169],"three-,":[170],"six-dimensional":[172],"depending":[174],"on":[175,182],"dimension":[177],"problem":[180],"whether":[183],"they":[184],"not":[188],"include":[189],"components":[190],"translational":[192],"and/or":[194],"moments.":[195],"Their":[196],"dimensional":[197],"definition":[198],"will":[199],"explicitly":[201],"whenever":[203],"specifically":[204],"needed).":[205],"A":[206,237],"pragmatic":[207],"index":[210],"(FCI)":[211],"proposed.":[213],"The":[214],"FCI":[215],"offers":[216],"sound":[218],"basis":[219],"resolution":[222],"via":[223],"optimization":[224],"complete":[226],"exploration,":[228],"provide":[231],"good":[232],"hints":[233],"design.":[236],"practical":[238],"use":[239],"case":[240],"involving":[241],"7-DOFs":[242],"KUKA":[243],"LBR":[244],"iiwa":[245],"was":[246],"demonstrate":[249],"relevance":[251],"proposed":[254],"method.":[255]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2018-01-26T00:00:00"}
