{"id":"https://openalex.org/W1979083039","doi":"https://doi.org/10.1109/rose.2013.6698445","title":"Application-oriented joint rate minimization by cell and tool optimization for an R6-manipulator","display_name":"Application-oriented joint rate minimization by cell and tool optimization for an R6-manipulator","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W1979083039","doi":"https://doi.org/10.1109/rose.2013.6698445","mag":"1979083039"},"language":"en","primary_location":{"id":"doi:10.1109/rose.2013.6698445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose.2013.6698445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","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/A5035091687","display_name":"Christian Reimund","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I107257983","display_name":"Darmstadt University of Applied Sciences","ror":"https://ror.org/047wbd030","country_code":"DE","type":"education","lineage":["https://openalex.org/I107257983"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian Reimund","raw_affiliation_strings":["Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","institution_ids":["https://openalex.org/I107257983"]},{"raw_affiliation_string":"Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066488470","display_name":"Alexander K\u00f6nig","orcid":"https://orcid.org/0000-0002-8540-2396"},"institutions":[{"id":"https://openalex.org/I107257983","display_name":"Darmstadt University of Applied Sciences","ror":"https://ror.org/047wbd030","country_code":"DE","type":"education","lineage":["https://openalex.org/I107257983"]},{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Konig","raw_affiliation_strings":["Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","institution_ids":["https://openalex.org/I107257983"]},{"raw_affiliation_string":"Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074902728","display_name":"Karl Kleinmann","orcid":null},"institutions":[{"id":"https://openalex.org/I107257983","display_name":"Darmstadt University of Applied Sciences","ror":"https://ror.org/047wbd030","country_code":"DE","type":"education","lineage":["https://openalex.org/I107257983"]},{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Karl Kleinmann","raw_affiliation_strings":["Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","institution_ids":["https://openalex.org/I107257983"]},{"raw_affiliation_string":"Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018322294","display_name":"Alexandra Weigl-Seitz","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I107257983","display_name":"Darmstadt University of Applied Sciences","ror":"https://ror.org/047wbd030","country_code":"DE","type":"education","lineage":["https://openalex.org/I107257983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexandra Weigl-Seitz","raw_affiliation_strings":["Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Robotics and Automation, Darmstadt University of Applied Sciences, Darmstadt, Germany","institution_ids":["https://openalex.org/I107257983"]},{"raw_affiliation_string":"Center for Robot. & Autom., Darmstadt Univ. of Appl. Sci., Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035091687"],"corresponding_institution_ids":["https://openalex.org/I107257983","https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06288351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"220","issue":null,"first_page":"214","last_page":"219"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"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":0.9955999851226807,"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/kinematics","display_name":"Kinematics","score":0.6845746040344238},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6534208655357361},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6382176280021667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5729238986968994},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.565464198589325},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4892842471599579},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4887809455394745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4402119219303131},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2778513431549072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2397635579109192},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15091130137443542},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08833509683609009}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6845746040344238},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6534208655357361},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6382176280021667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5729238986968994},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.565464198589325},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4892842471599579},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4887809455394745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4402119219303131},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2778513431549072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2397635579109192},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15091130137443542},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08833509683609009},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rose.2013.6698445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose.2013.6698445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","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":8,"referenced_works":["https://openalex.org/W2024060531","https://openalex.org/W2071573708","https://openalex.org/W2099263911","https://openalex.org/W2119507863","https://openalex.org/W2134533546","https://openalex.org/W2151393184","https://openalex.org/W2157396769","https://openalex.org/W6679715247"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380","https://openalex.org/W1996998603"],"abstract_inverted_index":{"A":[0],"robot's":[1,94],"joint":[2,58],"rates":[3],"increase":[4],"when":[5],"passing":[6],"near-singular":[7],"kinematic":[8,95],"setups,":[9],"increasing":[10],"the":[11,18,46,70,88,118,121,162],"required":[12],"axes":[13,23,134],"currents":[14],"and":[15,30,54,106,112,120],"wearout":[16],"of":[17,69,91],"bearings.":[19],"Exceeding":[20],"a":[21,38,51,74,82,102,148],"manipulator's":[22],"acceleratory":[24],"limits":[25],"will":[26],"abort":[27],"its":[28],"motion":[29],"therefore":[31],"make":[32],"an":[33,62,78,133,165],"off-line-planned":[34],"trajectory":[35,53],"undriveable":[36],"in":[37],"real":[39],"setting;":[40],"Latter":[41],"also":[42,124],"applies":[43],"to":[44,104,117,147],"hitting":[45,138],"axes'":[47],"angular":[48,140],"constraints.":[49,141],"Given":[50],"desired":[52],"aiming":[55],"for":[56,66,77,131,164],"reducing":[57],"rates,":[59],"we":[60,100],"discuss":[61],"application-oriented":[63],"offline":[64],"approach":[65],"multi-dimensional":[67],"optimization":[68,98,114],"tool":[71],"definition":[72],"using":[73],"heuristic":[75],"method":[76,144],"industrial":[79],"R6":[80],"manipulator,":[81],"KUKA":[83],"KR":[84],"60/2.":[85],"We":[86,123],"analyze":[87],"different":[89],"kinds":[90],"singularities":[92],"this":[93],"involves.":[96],"As":[97],"criteria,":[99],"present":[101],"way":[103],"identify":[105],"quantify":[107],"their":[108,139],"impact":[109],"on":[110],"manipulability":[111],"prioritize":[113],"with":[115],"respect":[116],"arm":[119],"wrist.":[122],"show":[125],"that":[126,136],"decoupling":[127],"may":[128],"be":[129],"applied":[130],"choosing":[132],"configuration":[135],"avoids":[137,152],"The":[142],"presented":[143],"is":[145],"adapted":[146],"plasma-cutting":[149],"application.":[150],"It":[151],"common":[153],"approaches'":[154],"draw-backs":[155],"like":[156],"pose":[157],"or":[158,161],"speed":[159],"deviation":[160],"need":[163],"auxiliary":[166],"axis.":[167]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}