{"id":"https://openalex.org/W2114000612","doi":"https://doi.org/10.1109/robot.1985.1087283","title":"Manipulability and redundancy control of robotic mechanisms","display_name":"Manipulability and redundancy control of robotic mechanisms","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2114000612","doi":"https://doi.org/10.1109/robot.1985.1087283","mag":"2114000612"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5056793860","display_name":"T. Yoshikawa","orcid":"https://orcid.org/0000-0002-1924-5468"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Yoshikawa","raw_affiliation_strings":["Automation Research Laboratory, Kyoto University, Uji, Kyoto, Japan","Kyoto University Uji Kyoto Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Research Laboratory, Kyoto University, Uji, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Kyoto University Uji Kyoto Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5056793860"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":13.0005,"has_fulltext":false,"cited_by_count":295,"citation_normalized_percentile":{"value":0.99421394,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":null,"first_page":"1004","last_page":"1009"},"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":0.9986000061035156,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/measure","display_name":"Measure (data warehouse)","score":0.816686749458313},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.8052313327789307},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7095133066177368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6304616332054138},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5539518594741821},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.533694863319397},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4822174310684204},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4511335790157318},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4392462372779846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3659621775150299},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25172513723373413},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.06662648916244507}],"concepts":[{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.816686749458313},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.8052313327789307},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7095133066177368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6304616332054138},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5539518594741821},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.533694863319397},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4822174310684204},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4511335790157318},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4392462372779846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3659621775150299},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25172513723373413},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.06662648916244507},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1985.1087283","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087283","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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":6,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W194532980","https://openalex.org/W1998457139","https://openalex.org/W2085545845","https://openalex.org/W2098502158","https://openalex.org/W6607909387"],"related_works":["https://openalex.org/W4255837520","https://openalex.org/W2382997850","https://openalex.org/W2390968135","https://openalex.org/W2387011115","https://openalex.org/W2382213751","https://openalex.org/W2351750670","https://openalex.org/W1597848696","https://openalex.org/W2354715126","https://openalex.org/W2388563748","https://openalex.org/W2375179084"],"abstract_inverted_index":{"The":[0],"concept":[1],"of":[2,5,14,17,28,37,40,45],"manipulability":[3],"measure":[4,13,30,47],"robotic":[6,18],"mechanisms":[7,19],"is":[8,11,54,70],"discussed.":[9],"This":[10],"a":[12,63],"manipulating":[15],"ability":[16],"in":[20],"positioning":[21],"and":[22,33,62],"orienting":[23],"the":[24,34,43],"end-effectors.":[25],"Some":[26],"properties":[27],"this":[29,46,67],"are":[31,48],"established":[32],"best":[35],"postures":[36],"various":[38],"types":[39],"manipulators":[41],"from":[42],"viewpoint":[44],"given.":[49],"A":[50],"four-joint":[51],"wrist":[52],"mechanism":[53,69],"also":[55],"analyzed":[56],"with":[57],"respect":[58],"to":[59],"its":[60],"manipulability,":[61],"control":[64],"algorithm":[65],"for":[66],"redundant":[68],"developed.":[71]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}