{"id":"https://openalex.org/W2048375120","doi":"https://doi.org/10.1109/robio.2013.6739694","title":"Zhang equivalence of different-level robotic schemes: An MVN case study based on PA10 robot manipulator","display_name":"Zhang equivalence of different-level robotic schemes: An MVN case study based on PA10 robot manipulator","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2048375120","doi":"https://doi.org/10.1109/robio.2013.6739694","mag":"2048375120"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5057914321","display_name":"Dongsheng Guo","orcid":"https://orcid.org/0000-0002-8304-2788"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dongsheng Guo","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033904846","display_name":"Keke Zhai","orcid":"https://orcid.org/0000-0002-5240-8011"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keke Zhai","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006046841","display_name":"Xiaotian Yu","orcid":"https://orcid.org/0009-0003-9471-9082"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotian Yu","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038278967","display_name":"Binghuang Cai","orcid":"https://orcid.org/0000-0002-0348-0690"},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Binghuang Cai","raw_affiliation_strings":["School of Medicine, University of Pittsburgh, Pittsburgh, USA","School of Medicine, University of Pittsburgh, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"School of Medicine, University of Pittsburgh, Pittsburgh, USA","institution_ids":["https://openalex.org/I170201317"]},{"raw_affiliation_string":"School of Medicine, University of Pittsburgh, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I170201317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053064477","display_name":"Yunong Zhang","orcid":"https://orcid.org/0000-0002-2228-0395"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunong Zhang","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5057914321"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.97664958,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80914859,"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":"1592","last_page":"1597"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9954000115394592,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9915000200271606,"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/redundancy","display_name":"Redundancy (engineering)","score":0.6538034677505493},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6063721179962158},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.599406361579895},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5440778136253357},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.5053894519805908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4908345341682434},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.44067704677581787},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4406575560569763},{"id":"https://openalex.org/keywords/zh\u00e0ng","display_name":"Zh\u00e0ng","score":0.43331417441368103},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3472154140472412},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3397861123085022},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33946293592453003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25929707288742065},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.117076575756073},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.10345813632011414},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07126200199127197}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6538034677505493},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6063721179962158},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.599406361579895},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5440778136253357},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.5053894519805908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4908345341682434},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.44067704677581787},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4406575560569763},{"id":"https://openalex.org/C2777045944","wikidata":"https://www.wikidata.org/wiki/Q12170198","display_name":"Zh\u00e0ng","level":3,"score":0.43331417441368103},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3472154140472412},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3397861123085022},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33946293592453003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25929707288742065},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.117076575756073},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.10345813632011414},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07126200199127197},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C191935318","wikidata":"https://www.wikidata.org/wiki/Q148","display_name":"China","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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":22,"referenced_works":["https://openalex.org/W175079832","https://openalex.org/W203887357","https://openalex.org/W405308472","https://openalex.org/W1578671836","https://openalex.org/W1967602591","https://openalex.org/W2003593395","https://openalex.org/W2012878661","https://openalex.org/W2020003950","https://openalex.org/W2021338655","https://openalex.org/W2021461149","https://openalex.org/W2024069345","https://openalex.org/W2047151757","https://openalex.org/W2069018491","https://openalex.org/W2088346337","https://openalex.org/W2089988930","https://openalex.org/W2105091779","https://openalex.org/W2133702739","https://openalex.org/W2153202134","https://openalex.org/W2156074623","https://openalex.org/W2168921921","https://openalex.org/W2318174237","https://openalex.org/W2345244325"],"related_works":["https://openalex.org/W2364559953","https://openalex.org/W2375840727","https://openalex.org/W2389678104","https://openalex.org/W2375137083","https://openalex.org/W2380507695","https://openalex.org/W2367687999","https://openalex.org/W2387562377","https://openalex.org/W2384722335","https://openalex.org/W2600861247","https://openalex.org/W1976840544"],"abstract_inverted_index":{"Inverse":[0],"kinematics":[1],"(or":[2],"say,":[3],"redundancy":[4,55],"resolution)":[5],"is":[6,96],"a":[7,32,39],"fundamental":[8],"issue":[9],"in":[10,19],"operating":[11],"redundant":[12],"manipulators,":[13],"which":[14,35,70],"has":[15],"been":[16,28],"widely":[17],"investigated":[18],"the":[20,43,47,73,77,81,105,112,126,132,139,148,153],"past":[21],"three":[22],"decades.":[23],"Many":[24],"redundancy-resolution":[25,141],"schemes":[26,75,91,142],"have":[27],"proposed":[29],"for":[30,53],"such":[31,88],"problem":[33],"solving,":[34],"mainly":[36],"work":[37],"at":[38,60,92,143,147,152],"single":[40],"level":[41,45,150],"(e.g.,":[42,146],"joint-velocity":[44,149],"or":[46],"joint-acceleration":[48,154],"level).":[49],"In":[50],"this":[51],"paper,":[52],"robotic":[54,90,140],"resolution,":[56],"two":[57,61,89,93],"general":[58],"scheme-formulations":[59],"different":[62,94,144],"levels":[63,95,145],"are":[64],"presented":[65],"and":[66,76,151,165],"investigated,":[67],"one":[68],"of":[69,114,134],"corresponds":[71,79],"to":[72,80],"velocity-level":[74],"other":[78],"acceleration-level":[82],"schemes.":[83],"The":[84],"equivalent":[85,159],"relationship":[86],"between":[87],"established":[97],"via":[98],"Zhang":[99,107,135],"et":[100],"al's":[101],"neural-dynamics":[102],"method,":[103],"i.e.,":[104],"so-called":[106],"equivalence.":[108,136],"Theoretical":[109],"analysis":[110],"on":[111,125],"case":[113],"minimum":[115],"velocity":[116],"norm":[117],"(MVN)":[118],"scheme,":[119],"together":[120],"with":[121],"computer":[122],"simulations":[123],"based":[124],"PA10":[127],"robot":[128],"manipulator,":[129],"substantiates":[130],"well":[131],"reasonableness":[133],"That":[137],"is,":[138],"level)":[155],"could":[156],"be":[157],"practically":[158],"by":[160],"using":[161],"suitable":[162],"performance":[163],"indices":[164],"constraints.":[166]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
