{"id":"https://openalex.org/W2131458602","doi":"https://doi.org/10.1109/robio.2007.4522342","title":"Multi-criteria kinematics control for the PA10-7C robot arm with robust singularities","display_name":"Multi-criteria kinematics control for the PA10-7C robot arm with robust singularities","publication_year":2007,"publication_date":"2007-12-01","ids":{"openalex":"https://openalex.org/W2131458602","doi":"https://doi.org/10.1109/robio.2007.4522342","mag":"2131458602"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2007.4522342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522342","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5103357388","display_name":"Wei\u2010Min Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Weimin Shen","raw_affiliation_strings":["Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]},{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada","Shenzhen Institute of Advanced Technology, Shandong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Shandong University, China","institution_ids":["https://openalex.org/I154099455","https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5721,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.62917317,"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":"1242","last_page":"1248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":0.9976000189781189,"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":0.9921000003814697,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.827107310295105},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.6565027832984924},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.637152910232544},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.590982973575592},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5480530261993408},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49546563625335693},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4711916446685791},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4674929678440094},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4517771303653717},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.42734864354133606},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42562830448150635},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4208413362503052},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4063877463340759},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.264424204826355},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.24611923098564148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23161748051643372},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23002132773399353},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2260984182357788},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18631675839424133},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.17209544777870178},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14927202463150024},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.05661532282829285}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.827107310295105},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.6565027832984924},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.637152910232544},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.590982973575592},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5480530261993408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49546563625335693},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4711916446685791},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4674929678440094},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4517771303653717},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.42734864354133606},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42562830448150635},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4208413362503052},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4063877463340759},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.264424204826355},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.24611923098564148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23161748051643372},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23002132773399353},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2260984182357788},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18631675839424133},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.17209544777870178},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14927202463150024},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.05661532282829285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2007.4522342","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522342","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":26,"referenced_works":["https://openalex.org/W613314169","https://openalex.org/W646585437","https://openalex.org/W1509235676","https://openalex.org/W1587938649","https://openalex.org/W1963651809","https://openalex.org/W1972048784","https://openalex.org/W2007228060","https://openalex.org/W2014461734","https://openalex.org/W2036595763","https://openalex.org/W2037841262","https://openalex.org/W2042803738","https://openalex.org/W2042913147","https://openalex.org/W2092188525","https://openalex.org/W2093747666","https://openalex.org/W2096237411","https://openalex.org/W2108567838","https://openalex.org/W2113260111","https://openalex.org/W2118274837","https://openalex.org/W2129644801","https://openalex.org/W2131954954","https://openalex.org/W2139980347","https://openalex.org/W2152623759","https://openalex.org/W2159139838","https://openalex.org/W4205362845","https://openalex.org/W4246876107","https://openalex.org/W4291302063"],"related_works":["https://openalex.org/W2160983430","https://openalex.org/W2139772866","https://openalex.org/W2108575589","https://openalex.org/W4388893656","https://openalex.org/W3129004068","https://openalex.org/W1505290414","https://openalex.org/W2605331264","https://openalex.org/W2172139062","https://openalex.org/W2995626901","https://openalex.org/W2291700020"],"abstract_inverted_index":{"In":[0,51],"this":[1,52],"paper,":[2,53],"kinematics":[3,58,93],"control":[4,19,94],"with":[5],"multiple":[6,73],"criteria":[7],"and":[8,49,68,111],"robust":[9],"singularities":[10],"for":[11,30,37],"the":[12,25,38,54,70,81,88,100,114],"PA10-7C":[13],"robot":[14,26,39],"arm":[15,27,40],"is":[16,20,28,59,78],"presented.":[17],"Kinematics":[18],"of":[21,72,87,102,113],"critical":[22],"importance":[23],"when":[24,41],"used":[29,79],"practical":[31],"applications,":[32],"because":[33],"it":[34],"gives":[35],"solutions":[36],"given":[42,60],"either":[43],"joint":[44],"angles":[45],"or":[46],"end-effector\u2019s":[47],"position":[48],"orientation.":[50],"solution":[55],"to":[56,83,98],"inverse":[57],"first,":[61],"which":[62],"can":[63],"realize":[64],"weighted":[65],"least":[66],"squares":[67],"facilitate":[69],"fusion":[71],"criteria.":[74],"Singular":[75],"value":[76],"decomposition":[77],"in":[80],"paper":[82],"analyze":[84],"singularities\u2019":[85],"robustness":[86],"proposed":[89,115],"approach.":[90,116],"A":[91],"closed-loop":[92],"scheme":[95],"was":[96],"designed":[97],"decrease":[99],"effect":[101],"integration":[103],"drifting.":[104],"Finally,":[105],"simulation":[106],"results":[107],"further":[108],"verify":[109],"efficiency":[110],"feasibility":[112]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}