{"id":"https://openalex.org/W2968077796","doi":"https://doi.org/10.1109/tase.2019.2931810","title":"A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators","display_name":"A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators","publication_year":2019,"publication_date":"2019-08-12","ids":{"openalex":"https://openalex.org/W2968077796","doi":"https://doi.org/10.1109/tase.2019.2931810","mag":"2968077796"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2019.2931810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2931810","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/A5101828364","display_name":"Dechao Chen","orcid":"https://orcid.org/0000-0002-5171-1414"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]},{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Dechao Chen","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Hong Kong","School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5171-1414","affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424064","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0001-8316-5289"},"institutions":[{"id":"https://openalex.org/I39586589","display_name":"Swansea University","ror":"https://ror.org/053fq8t95","country_code":"GB","type":"education","lineage":["https://openalex.org/I39586589"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["College of Engineering, Swansea University, Swansea, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8316-5289","affiliations":[{"raw_affiliation_string":"College of Engineering, Swansea University, Swansea, U.K","institution_ids":["https://openalex.org/I39586589"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-7970-9076","affiliations":[{"raw_affiliation_string":"Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103009275","display_name":"Qing Wu","orcid":"https://orcid.org/0000-0002-4104-0784"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Wu","raw_affiliation_strings":["School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.0619,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.97521408,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"17","issue":"1","first_page":"463","last_page":"474"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.998199999332428,"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/jerk","display_name":"Jerk","score":0.8879561424255371},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6624531745910645},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5852159857749939},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5659894943237305},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4865495264530182},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4854188859462738},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4723542630672455},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4380256235599518},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4204273819923401},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.412596732378006},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3980883061885834},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2316032350063324},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22619035840034485},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.09169512987136841},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07101714611053467},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07053178548812866}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8879561424255371},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6624531745910645},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5852159857749939},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5659894943237305},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4865495264530182},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4854188859462738},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4723542630672455},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4380256235599518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4204273819923401},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.412596732378006},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3980883061885834},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2316032350063324},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22619035840034485},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.09169512987136841},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07101714611053467},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07053178548812866},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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.2019.2931810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2019.2931810","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G3876926024","display_name":null,"funder_award_id":"61702146","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7441152539","display_name":null,"funder_award_id":"61401385","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W258481170","https://openalex.org/W405308472","https://openalex.org/W1560270123","https://openalex.org/W1587979646","https://openalex.org/W1603066057","https://openalex.org/W1633007112","https://openalex.org/W1967911984","https://openalex.org/W1973711904","https://openalex.org/W1974974058","https://openalex.org/W1977431861","https://openalex.org/W1984287998","https://openalex.org/W1988876996","https://openalex.org/W1990049746","https://openalex.org/W1991749454","https://openalex.org/W1994843712","https://openalex.org/W2001392951","https://openalex.org/W2005970795","https://openalex.org/W2020327448","https://openalex.org/W2021338655","https://openalex.org/W2023468600","https://openalex.org/W2029372162","https://openalex.org/W2034903360","https://openalex.org/W2038939846","https://openalex.org/W2048017417","https://openalex.org/W2048506187","https://openalex.org/W2063471227","https://openalex.org/W2079900828","https://openalex.org/W2086186132","https://openalex.org/W2094682361","https://openalex.org/W2111340501","https://openalex.org/W2113265921","https://openalex.org/W2117990468","https://openalex.org/W2119514858","https://openalex.org/W2122761880","https://openalex.org/W2145961219","https://openalex.org/W2153202134","https://openalex.org/W2156485650","https://openalex.org/W2157087522","https://openalex.org/W2158462251","https://openalex.org/W2160514056","https://openalex.org/W2168711401","https://openalex.org/W2194077912","https://openalex.org/W2198115693","https://openalex.org/W2211212789","https://openalex.org/W2212964671","https://openalex.org/W2240923019","https://openalex.org/W2324701635","https://openalex.org/W2340845061","https://openalex.org/W2344053498","https://openalex.org/W2490929093","https://openalex.org/W2502651175","https://openalex.org/W2526749720","https://openalex.org/W2580331303","https://openalex.org/W2596087839","https://openalex.org/W2606135340","https://openalex.org/W2753352472","https://openalex.org/W2765094417","https://openalex.org/W2767834527","https://openalex.org/W2776859894","https://openalex.org/W2787523326","https://openalex.org/W2809121112","https://openalex.org/W6635037865","https://openalex.org/W6662867780","https://openalex.org/W6676947459"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W1996912299","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,57,89,98,112,275,342,379],"multi-level":[4,276],"simultaneous":[5,277],"minimization":[6,278],"(MLSM)":[7,279],"scheme":[8,42,75,85,130,137,142,222,280,323,367],"is":[9,43,62,76,86,95,143,163,180,227,268,324,434],"proposed":[10,41,73,141,322,392,409],"and":[11,19,49,120,131,145,171,201,241,261,291,333,361,372,376,388,404,418],"investigated":[12],"to":[13,28,176,243,287,297,340,384],"remedy":[14,288],"the":[15,30,53,69,72,79,83,107,118,123,128,132,140,149,153,157,183,197,210,219,231,245,249,289,299,315,321,337,346,357,365,386,391,402,408,420,424,428],"joint-angle":[16,198],"drift":[17,199],"(JAD)":[18,200],"non-zero":[20,202],"final":[21,203],"joint-velocity":[22,204],"(NZFJV)":[23,205],"phenomena":[24,206,293],"as":[25,27,88,207,209,294,296,314],"well":[26,208,295],"prevent":[29,298],"occurrence":[31,211,300],"of":[32,36,71,122,187,212,234,301,305,355,364,390,407],"high":[33,213,302],"joint":[34,214,303],"variables":[35,215,304],"redundant":[37,189,306,348],"robot":[38,59,115,155,159,190,224,246,266,285,307,349,382,426,430],"manipulators.":[39,308,350],"The":[40],"novelly":[44],"designed":[45,325,375],"within":[46,326],"multiple":[47,327],"levels":[48,328],"finally":[50,334],"resolved":[51,335],"at":[52,248,336],"jerk":[54,134,250,317,338],"level":[55,251,339],"for":[56,64,165,223,230,252,264,270,281,345,352],"jerk-bounded":[58,188,347],"motion,":[60],"which":[61,226],"desirable":[63,242,343],"engineering":[65,167,414],"applications.":[66,194],"More":[67],"importantly,":[68],"correctness":[70],"MLSM":[74,84,124,129,366,410],"guaranteed":[77],"by":[78,97,169,182,416],"corresponding":[80,358],"theorems.":[81],"Then,":[82],"formulated":[87],"dynamical":[90],"quadratic":[91],"program":[92],"(DQP)":[93],"that":[94,139,196],"solved":[96],"piecewise":[99],"linear":[100],"projection":[101],"equation":[102],"neural":[103],"network":[104],"(PLPENN).":[105],"Furthermore,":[106],"path-tracking":[108],"simulations":[109],"based":[110],"on":[111,152,378,423],"6-degrees-of-freedom":[113,380],"(DOF)":[114,381],"manipulator":[116,383],"substantiate":[117,385],"effectiveness":[119,387],"advantage":[121],"scheme.":[125,393,411],"Comparisons":[126],"between":[127],"minimum":[133,316],"norm":[135,318],"(MJN)":[136,319],"illustrate":[138],"superior":[144],"more":[146],"applicable.":[147],"Finally,":[148],"additional":[150,421],"validation":[151,422],"KUKA":[154,425],"in":[156,192,218,255,284,427],"virtual":[158,429],"experimentation":[160,431],"platform":[161,432],"(V-REP)":[162,433],"provided":[164],"reproducible":[166,413],"applications":[168,415],"researchers":[170,417],"practitioners.":[172,271],"<italic":[173],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[174],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[175],"Practitioners</i>":[177],"\u2014This":[178],"paper":[179,273],"motivated":[181],"inverse":[184],"kinematics":[185,286],"problem":[186],"manipulators":[191,267],"practical":[193],"Note":[195],"always":[216],"encountered":[217],"traditional":[220,310],"norm-based":[221],"manipulators,":[225],"not":[228],"suitable":[229],"real-time":[232],"control":[233],"robots.":[235],"Besides,":[236,351],"it":[237],"would":[238],"be":[239],"appealing":[240],"resolve":[244],"redundancy":[247],"industrial":[253],"robots":[254],"engineering.":[256],"Therefore,":[257],"an":[258],"effective,":[259],"flexible,":[260],"stable":[262,405],"solution":[263],"such":[265,313],"significant":[269],"This":[272],"proposes":[274],"practitioners":[282],"interested":[283],"JAD":[290],"NZFJV":[292],"Unlike":[309],"single-level":[311],"schemes,":[312],"scheme,":[320],"with":[329,396],"distinct":[330],"physical":[331],"nature":[332],"achieve":[341],"performance":[344,406],"better":[353],"understanding":[354],"practitioners,":[356,419],"block":[359],"diagram":[360],"principle":[362],"interpretation":[363],"are":[368,374],"presented.":[369,436],"Simulation":[370],"studies":[371],"comparisons":[373],"conducted":[377],"superiority":[389],"Extensive":[394],"tests":[395],"different":[397],"weighting":[398],"factors":[399],"fully":[400],"verify":[401],"flexibility":[403],"For":[412],"further":[435]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
