{"id":"https://openalex.org/W2129644801","doi":"https://doi.org/10.1109/tsmc.1983.6313123","title":"Review of pseudoinverse control for use with kinematically redundant manipulators","display_name":"Review of pseudoinverse control for use with kinematically redundant manipulators","publication_year":1983,"publication_date":"1983-03-01","ids":{"openalex":"https://openalex.org/W2129644801","doi":"https://doi.org/10.1109/tsmc.1983.6313123","mag":"2129644801"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.1983.6313123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.1983.6313123","pdf_url":null,"source":{"id":"https://openalex.org/S76152103","display_name":"IEEE Transactions on Systems Man and Cybernetics","issn_l":"0018-9472","issn":["0018-9472","2168-2909"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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 Systems, Man, and Cybernetics","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/A5108598460","display_name":"Charles A. Klein","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Charles A. Klein","raw_affiliation_strings":["Department of Electrical Engineering, Ohio State Uinversity, Columbus, OH, USA","Dept. of Electrical Engng., Ohio State Univ., Columbus, OH, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Ohio State Uinversity, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Dept. of Electrical Engng., Ohio State Univ., Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ching-Hsiang Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ching-Hsiang Huang","raw_affiliation_strings":["Department of Electrical Engineering, Ohio State Uinversity, USA","Dept. of Electrical Engng., Ohio State Univ., Columbus, OH, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Ohio State Uinversity, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Dept. of Electrical Engng., Ohio State Univ., Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5108598460"],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":22.4138,"has_fulltext":false,"cited_by_count":1111,"citation_normalized_percentile":{"value":0.99642378,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"SMC-13","issue":"2","first_page":"245","last_page":"250"},"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":0.9991000294685364,"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":0.995199978351593,"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/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.9564695358276367},{"id":"https://openalex.org/keywords/minimax","display_name":"Minimax","score":0.7687219381332397},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6655822992324829},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.643535852432251},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4785650074481964},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4387805163860321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4044235944747925},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33263760805130005},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.2737675607204437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15492993593215942},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.09353509545326233},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07950079441070557}],"concepts":[{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.9564695358276367},{"id":"https://openalex.org/C149728462","wikidata":"https://www.wikidata.org/wiki/Q751319","display_name":"Minimax","level":2,"score":0.7687219381332397},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6655822992324829},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.643535852432251},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4785650074481964},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4387805163860321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4044235944747925},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33263760805130005},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2737675607204437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15492993593215942},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.09353509545326233},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07950079441070557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.1983.6313123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.1983.6313123","pdf_url":null,"source":{"id":"https://openalex.org/S76152103","display_name":"IEEE Transactions on Systems Man and Cybernetics","issn_l":"0018-9472","issn":["0018-9472","2168-2909"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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 Systems, Man, and Cybernetics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2770176672","https://openalex.org/W2040517289","https://openalex.org/W2159579247","https://openalex.org/W1983274264","https://openalex.org/W4386941030","https://openalex.org/W3010926782","https://openalex.org/W4322614778","https://openalex.org/W2143743563","https://openalex.org/W4300648397","https://openalex.org/W2058428917"],"abstract_inverted_index":{"Kinematically":[0],"redundant":[1,54],"manipulators":[2],"have":[3],"a":[4,53,57,61],"number":[5],"of":[6,16,52],"potential":[7],"advantages":[8],"over":[9],"current":[10],"manipulator":[11],"designs.":[12],"For":[13],"this":[14,39],"type":[15],"arm,":[17],"velocity":[18],"control":[19,28,40],"through":[20],"pseudoinverses":[21],"is":[22,65],"suggested.":[23],"Questions":[24],"associated":[25],"with":[26],"pseudoinverse":[27],"are":[29,72],"examined":[30],"in":[31,36,56],"detail":[32],"and":[33],"show":[34],"that":[35],"some":[37],"cases":[38],"leads":[41],"to":[42,60],"undesired":[43],"arm":[44,55],"configurations.":[45],"A":[46],"method":[47],"for":[48],"distributing":[49],"joint":[50],"angles":[51],"good":[58],"approximation":[59],"true":[62],"minimax":[63],"criterion":[64],"described.":[66],"In":[67],"addition":[68],"several":[69],"numerical":[70],"considerations":[71],"discussed.":[73]},"counts_by_year":[{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":26},{"year":2020,"cited_by_count":19},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":20},{"year":2016,"cited_by_count":25},{"year":2015,"cited_by_count":25},{"year":2014,"cited_by_count":22},{"year":2013,"cited_by_count":23},{"year":2012,"cited_by_count":19}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
