{"id":"https://openalex.org/W2023468600","doi":"https://doi.org/10.1109/tase.2014.2346490","title":"Simulation and Experimental Verification of Weighted Velocity and Acceleration Minimization for Robotic Redundancy Resolution","display_name":"Simulation and Experimental Verification of Weighted Velocity and Acceleration Minimization for Robotic Redundancy Resolution","publication_year":2014,"publication_date":"2014-08-26","ids":{"openalex":"https://openalex.org/W2023468600","doi":"https://doi.org/10.1109/tase.2014.2346490","mag":"2023468600"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2014.2346490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2014.2346490","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/I4210129003","display_name":"SYSU-CMU International Joint Research Institute","ror":"https://ror.org/02w30ae27","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129003"]},{"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":["SYSU-CMU Shunde International Joint Research Institute, Foshan, China","Sun Yat-sen University, School of Information Science and Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"SYSU-CMU Shunde International Joint Research Institute, Foshan, China","institution_ids":["https://openalex.org/I4210129003","https://openalex.org/I157773358"]},{"raw_affiliation_string":"Sun Yat-sen University, School of Information Science and Technology, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"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"]},{"id":"https://openalex.org/I4210129003","display_name":"SYSU-CMU International Joint Research Institute","ror":"https://ror.org/02w30ae27","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunong Zhang","raw_affiliation_strings":["SYSU-CMU Shunde International Joint Research Institute, Foshan, China","Sun Yat-sen University, School of Information Science and Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"SYSU-CMU Shunde International Joint Research Institute, Foshan, China","institution_ids":["https://openalex.org/I4210129003","https://openalex.org/I157773358"]},{"raw_affiliation_string":"Sun Yat-sen University, School of Information Science and Technology, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057914321"],"corresponding_institution_ids":["https://openalex.org/I157773358","https://openalex.org/I4210129003"],"apc_list":null,"apc_paid":null,"fwci":5.6806,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.95825544,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"11","issue":"4","first_page":"1203","last_page":"1217"},"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":0.9955000281333923,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7044091820716858},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6307469010353088},{"id":"https://openalex.org/keywords/realizability","display_name":"Realizability","score":0.626374363899231},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5675097107887268},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.4549202620983124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4464232921600342},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.42515045404434204},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41487106680870056},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.37914353609085083},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.27393466234207153},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16299840807914734},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08951717615127563}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7044091820716858},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6307469010353088},{"id":"https://openalex.org/C2776378722","wikidata":"https://www.wikidata.org/wiki/Q3454417","display_name":"Realizability","level":2,"score":0.626374363899231},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5675097107887268},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.4549202620983124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4464232921600342},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.42515045404434204},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41487106680870056},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.37914353609085083},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27393466234207153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16299840807914734},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08951717615127563},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2014.2346490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2014.2346490","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W175079832","https://openalex.org/W405308472","https://openalex.org/W1509579450","https://openalex.org/W1560270123","https://openalex.org/W1564897360","https://openalex.org/W1971608239","https://openalex.org/W1974974058","https://openalex.org/W1982553119","https://openalex.org/W1984401712","https://openalex.org/W1991749454","https://openalex.org/W1997696996","https://openalex.org/W2021338655","https://openalex.org/W2030849942","https://openalex.org/W2042803738","https://openalex.org/W2049410986","https://openalex.org/W2057134777","https://openalex.org/W2063471227","https://openalex.org/W2073554986","https://openalex.org/W2074466379","https://openalex.org/W2076202257","https://openalex.org/W2076718627","https://openalex.org/W2078764484","https://openalex.org/W2083878885","https://openalex.org/W2093466771","https://openalex.org/W2100476631","https://openalex.org/W2105091779","https://openalex.org/W2110761225","https://openalex.org/W2111414790","https://openalex.org/W2113260111","https://openalex.org/W2113265921","https://openalex.org/W2114409874","https://openalex.org/W2116937526","https://openalex.org/W2117990468","https://openalex.org/W2119109765","https://openalex.org/W2126626564","https://openalex.org/W2131660559","https://openalex.org/W2131954954","https://openalex.org/W2133706426","https://openalex.org/W2138045872","https://openalex.org/W2139208043","https://openalex.org/W2139647291","https://openalex.org/W2150546636","https://openalex.org/W2155893417","https://openalex.org/W2156485650","https://openalex.org/W2159857204","https://openalex.org/W2168555065","https://openalex.org/W2168711401","https://openalex.org/W2184715102","https://openalex.org/W2328685658","https://openalex.org/W2345244325","https://openalex.org/W2787523326","https://openalex.org/W6686599012"],"related_works":["https://openalex.org/W1603488308","https://openalex.org/W4298120007","https://openalex.org/W2136737082","https://openalex.org/W3173554384","https://openalex.org/W1517224694","https://openalex.org/W1857750633","https://openalex.org/W2321910655","https://openalex.org/W1989030530","https://openalex.org/W2051968535","https://openalex.org/W2963559218"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"and":[3,8,20,43,78,100,124,148],"investigates":[4],"a":[5,97,105,117,140],"weighted":[6],"velocity":[7,19,55,76],"acceleration":[9,22,27,80],"minimization":[10],"scheme":[11,30,37,93,129],"to":[12,58],"prevent":[13],"the":[14,25,52,85,88,122,127,146,152],"occurrence":[15],"of":[16,56,87,116,126,151],"high":[17],"joint":[18,21,54,72,75,79],"caused":[23],"by":[24,103],"minimum":[26,39],"norm":[28],"(MAN)":[29],"in":[31,84,133],"redundant":[32],"robot":[33,119,134,143],"manipulators.":[34,135],"The":[35,91],"proposed":[36,89,92,128,153],"considers":[38],"kinetic":[40],"energy":[41],"(MKE)":[42],"MAN":[44],"criterions":[45],"via":[46],"two":[47],"weighting":[48],"factors,":[49],"thus":[50],"guaranteeing":[51],"final":[53],"motion":[57],"be":[59],"near":[60],"zero,":[61],"which":[62],"is":[63,94],"acceptable":[64],"for":[65,130],"engineering":[66],"applications.":[67],"Joint":[68],"physical":[69,149],"constraints":[70],"(i.e.,":[71],"angle":[73],"limits,":[74,77],"limits)":[81],"are":[82],"incorporated":[83],"formulation":[86],"scheme.":[90,154],"reformulated":[95],"as":[96],"quadratic":[98],"program":[99],"then":[101],"calculated":[102],"using":[104],"numerical":[106],"algorithm":[107],"based":[108],"on":[109,139],"linear":[110],"variational":[111],"inequality.":[112],"Computer":[113],"simulation":[114],"results":[115],"PUMA560":[118],"manipulator":[120,144],"verify":[121],"efficacy":[123],"flexibility":[125],"redundancy":[131],"resolution":[132],"Experimental":[136],"verifications":[137],"conducted":[138],"six-link":[141],"planar":[142],"demonstrate":[145],"effectiveness":[147],"realizability":[150]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}