{"id":"https://openalex.org/W3002730672","doi":"https://doi.org/10.1109/robio49542.2019.8961452","title":"A Closed Loop Inverse Kinematics and Control Scheme for one Class of Offset-Joint 7-DOF Redundant Manipulator","display_name":"A Closed Loop Inverse Kinematics and Control Scheme for one Class of Offset-Joint 7-DOF Redundant Manipulator","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002730672","doi":"https://doi.org/10.1109/robio49542.2019.8961452","mag":"3002730672"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5105348790","display_name":"Yukun Zheng","orcid":"https://orcid.org/0000-0003-0096-0979"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yukun Zheng","raw_affiliation_strings":["Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112501923","display_name":"Hongxiang Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxiang Yuan","raw_affiliation_strings":["Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113852285","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060769407","display_name":"Xin Ma","orcid":"https://orcid.org/0000-0003-4402-1957"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Ma","raw_affiliation_strings":["Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong University,Center for Robotics, School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5105348790"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20365819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1495","last_page":"1500"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9973999857902527,"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"}},{"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7679997682571411},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7070883512496948},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6458557844161987},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6247962117195129},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4994843006134033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49619442224502563},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.4662451148033142},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4503187835216522},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4474918842315674},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.43932047486305237},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4193727374076843},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4171747863292694},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4125273823738098},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.41241738200187683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36512523889541626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33799368143081665},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15935274958610535},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10017266869544983},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09252354502677917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.059142231941223145}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7679997682571411},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7070883512496948},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6458557844161987},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6247962117195129},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4994843006134033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49619442224502563},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.4662451148033142},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4503187835216522},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4474918842315674},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.43932047486305237},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4193727374076843},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4171747863292694},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4125273823738098},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.41241738200187683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36512523889541626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33799368143081665},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15935274958610535},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10017266869544983},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09252354502677917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.059142231941223145},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W796041032","https://openalex.org/W1974531893","https://openalex.org/W1993383995","https://openalex.org/W2032211017","https://openalex.org/W2049410986","https://openalex.org/W2100183724","https://openalex.org/W2139678625","https://openalex.org/W2350075556","https://openalex.org/W2378830913","https://openalex.org/W2577673871","https://openalex.org/W2596806485","https://openalex.org/W2601364406","https://openalex.org/W2742829113","https://openalex.org/W2782655722","https://openalex.org/W2789317214","https://openalex.org/W2789696912","https://openalex.org/W2790973932","https://openalex.org/W2805005745","https://openalex.org/W2896101024","https://openalex.org/W2900805829","https://openalex.org/W2908012943","https://openalex.org/W3155313015","https://openalex.org/W3167413155","https://openalex.org/W6732158525","https://openalex.org/W6796203063","https://openalex.org/W7004865828"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W3030642493","https://openalex.org/W1969999327","https://openalex.org/W4283266117","https://openalex.org/W3126987580","https://openalex.org/W2607470227","https://openalex.org/W2744818472","https://openalex.org/W1971821535"],"abstract_inverted_index":{"This":[0,106],"paper":[1],"presents":[2],"a":[3,49],"position-based":[4],"motion":[5],"control":[6],"method":[7],"using":[8,73],"the":[9,36,40,45,64,74,78,85,95,99,103,113,120,135,138],"closed-loop":[10],"inverse":[11,67],"kinematics":[12,60],"(CLIK)":[13],"algorithm,":[14],"which":[15],"is":[16,33],"used":[17],"for":[18,127,141],"solving":[19],"one":[20,34,62,128],"class":[21,129],"of":[22,27,35,42,51,63,122,137],"offset":[23],"joint":[24],"7":[25],"degrees":[26],"freedom":[28],"(DOF)":[29],"robot.":[30],"Dual-arm":[31],"robot":[32,54,133],"research":[37],"topics":[38],"in":[39],"field":[41],"robotics.":[43],"In":[44,84],"article,":[46],"we":[47,87],"designed":[48],"kind":[50],"human":[52],"dual-arm":[53],"with":[55,61],"14-DOF":[56],"and":[57,77,93],"studied":[58],"its":[59],"arms.":[65],"The":[66],"kinematic":[68],"can":[69,81,110,118],"be":[70,82],"solved":[71],"by":[72],"pseudo-inverse":[75],"matrix,":[76],"numerical":[79],"solution":[80],"obtained.":[83],"simulation,":[86],"adopt":[88],"position":[89],"+":[90],"velocity":[91],"scheme":[92],"at":[94],"same":[96],"time":[97],"consider":[98],"desired":[100],"orientation":[101],"as":[102],"posture":[104],"limitation.":[105],"algorithm":[107],"not":[108],"only":[109],"accurately":[111],"track":[112],"target":[114],"trajectory,":[115],"but":[116],"also":[117],"avoid":[119],"effect":[121],"singularity":[123],"points.":[124],"Simulation":[125],"results":[126],"end":[130],"biasing":[131],"7-DOF":[132],"demonstrates":[134],"effectiveness":[136],"scheme,":[139],"even":[140],"singularities.":[142]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}