{"id":"https://openalex.org/W2322635752","doi":"https://doi.org/10.1109/mfi.2014.6997691","title":"Velocity jump reduction for manipulator with single joint failure","display_name":"Velocity jump reduction for manipulator with single joint failure","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2322635752","doi":"https://doi.org/10.1109/mfi.2014.6997691","mag":"2322635752"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2014.6997691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2014.6997691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)","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/A5100641331","display_name":"Qingxuan Jia","orcid":"https://orcid.org/0000-0002-9533-3275"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingxuan Jia","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462533","display_name":"Tong Li","orcid":"https://orcid.org/0000-0002-0363-6755"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Li","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100389222","display_name":"Gang Chen","orcid":"https://orcid.org/0000-0001-7120-7058"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Chen","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100705869","display_name":"Hanxu Sun","orcid":"https://orcid.org/0000-0002-8747-9418"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanxu Sun","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100409975","display_name":"Jian Zhang","orcid":"https://orcid.org/0000-0002-5642-9098"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Zhang","raw_affiliation_strings":["School of Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6415,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.8689828,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9965999722480774,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9914000034332275,"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/jump","display_name":"Jump","score":0.7206233143806458},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.665330708026886},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.627627432346344},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.555927574634552},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46582552790641785},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.43937426805496216},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.36873239278793335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.29745179414749146},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18845811486244202},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17587608098983765},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14870685338974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10052502155303955},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.0890522301197052}],"concepts":[{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.7206233143806458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.665330708026886},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.627627432346344},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.555927574634552},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46582552790641785},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.43937426805496216},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.36873239278793335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.29745179414749146},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18845811486244202},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17587608098983765},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14870685338974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10052502155303955},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0890522301197052},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi.2014.6997691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2014.6997691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1433164446","https://openalex.org/W1965306257","https://openalex.org/W1974217640","https://openalex.org/W2009353168","https://openalex.org/W2011327626","https://openalex.org/W2033751514","https://openalex.org/W2057578039","https://openalex.org/W2067542036","https://openalex.org/W2091115177","https://openalex.org/W2107712101","https://openalex.org/W2129340742","https://openalex.org/W2130613790","https://openalex.org/W2131965907","https://openalex.org/W2161184384","https://openalex.org/W2167618108","https://openalex.org/W2315251598"],"related_works":["https://openalex.org/W2086596702","https://openalex.org/W1993524633","https://openalex.org/W2019189643","https://openalex.org/W2157091192","https://openalex.org/W2360095481","https://openalex.org/W2490674474","https://openalex.org/W2170403446","https://openalex.org/W2614815078","https://openalex.org/W2132569238","https://openalex.org/W2408352021"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,28,33,44,54,61,68,78,84,87,91,102,105,110,121,131,141],"velocity":[3,17,31,65,89,111],"jump":[4,112],"caused":[5],"by":[6],"joint":[7,24,49,64,88,115],"failure":[8],"of":[9,30,42,53,71,104,124,133],"manipulator,":[10],"a":[11,82],"method":[12,107],"is":[13,36,57,74,136,144],"proposed":[14,106],"to":[15,59,76],"reduce":[16],"jumps":[18],"in":[19,108,113,138],"both":[20,114],"Cartesian":[21,118],"space":[22,73,116],"and":[23,67,117,120,140],"space.":[25],"Based":[26],"on":[27],"analysis":[29],"jump,":[32],"reduction":[34,148],"problem":[35,41],"turned":[37],"into":[38],"an":[39],"optimization":[40,122],"finding":[43],"best":[45],"compensation":[46,79,85,125],"vector":[47,126],"for":[48,63,86,146],"velocity.":[50],"The":[51,98],"gradient":[52],"reduced":[55],"manipulability":[56],"applied":[58],"represent":[60],"weight":[62],"redistribution,":[66],"orthogonal":[69],"matrix":[70],"null":[72],"introduced":[75],"construct":[77],"vector.":[80],"As":[81],"result,":[83],"during":[90],"entire":[92],"task":[93],"cycle":[94],"can":[95,127],"be":[96,128],"achieved.":[97,129],"simulation":[99],"result":[100],"shows":[101],"effectiveness":[103],"reducing":[109],"space,":[119],"coefficient":[123,135,142],"Then":[130],"limitation":[132],"constant":[134],"studied":[137],"further":[139],"form":[143],"corrected":[145],"better":[147],"performance.":[149]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
