{"id":"https://openalex.org/W2062587995","doi":"https://doi.org/10.1163/15685530260425729","title":"Time-optimal control of kinematically redundant manipulators with limit heat characteristics of actuators","display_name":"Time-optimal control of kinematically redundant manipulators with limit heat characteristics of actuators","publication_year":2002,"publication_date":"2002-01-01","ids":{"openalex":"https://openalex.org/W2062587995","doi":"https://doi.org/10.1163/15685530260425729","mag":"2062587995"},"language":"en","primary_location":{"id":"doi:10.1163/15685530260425729","is_oa":false,"landing_page_url":"https://doi.org/10.1163/15685530260425729","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Shugen Ma","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5053383747","display_name":"Mitsuru Watanabe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mitsuru Watanabe","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100778162"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.632,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.70819331,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"16","issue":"8","first_page":"735","last_page":"749"},"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T13267","display_name":"Advanced Theoretical and Applied Studies in Material Sciences and Geometry","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/control-theory","display_name":"Control theory (sociology)","score":0.6987483501434326},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6939578056335449},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.6253780126571655},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5053532719612122},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4889920949935913},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4726628065109253},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43741676211357117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43048423528671265},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4281238913536072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36405372619628906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32753700017929077},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3180525004863739},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21986624598503113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20579344034194946},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16599130630493164},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10640838742256165}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6987483501434326},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6939578056335449},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.6253780126571655},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5053532719612122},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4889920949935913},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4726628065109253},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43741676211357117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43048423528671265},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4281238913536072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36405372619628906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32753700017929077},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3180525004863739},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21986624598503113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20579344034194946},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16599130630493164},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10640838742256165}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/15685530260425729","is_oa":false,"landing_page_url":"https://doi.org/10.1163/15685530260425729","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8799999952316284,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1480648538","https://openalex.org/W1541034963","https://openalex.org/W1970412155","https://openalex.org/W1982442957","https://openalex.org/W2004406110","https://openalex.org/W2015003349","https://openalex.org/W2042803738","https://openalex.org/W2049617391","https://openalex.org/W2063539447","https://openalex.org/W2068121218","https://openalex.org/W2091197916","https://openalex.org/W2100790457","https://openalex.org/W2111210154","https://openalex.org/W2115091574","https://openalex.org/W2117129061","https://openalex.org/W2118327810","https://openalex.org/W2140220871","https://openalex.org/W2155612543","https://openalex.org/W2327196706","https://openalex.org/W3088063282"],"related_works":["https://openalex.org/W2005706483","https://openalex.org/W192519934","https://openalex.org/W2391397427","https://openalex.org/W4366609476","https://openalex.org/W1996341361","https://openalex.org/W2919815400","https://openalex.org/W2156518980","https://openalex.org/W2159353126","https://openalex.org/W2093621301","https://openalex.org/W849053048"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2,119],"study,":[3],"we":[4],"present":[5],"a":[6,16,127,148],"time-optimal":[7,103],"control":[8],"scheme":[9],"for":[10,55],"kinematically":[11],"redundant":[12,142],"manipulators":[13],"to":[14,21,33,40,118,132],"track":[15],"predefined":[17],"geometric":[18],"path,":[19],"subject":[20,117],"the":[22,35,41,45,49,61,66,88,95,99,102,109,113,134,137],"limit":[23,86],"heat":[24,145],"characteristics":[25,146],"of":[26,48,58,65,87,98,136,147],"actuators":[27],"(a":[28],"DC":[29,89,149],"motor":[30,50,90],"was":[31,123],"assumed":[32],"be":[34,53],"actuator":[36,67,100],"used).":[37],"Constraints":[38],"due":[39],"rated":[42,46],"torque":[43],"and":[44,75,101,112],"velocity":[47],"would":[51],"not":[52],"valid":[54],"continuous":[56],"use":[57],"manipulators,":[59],"since":[60],"required":[62],"mechanical":[63],"output":[64],"(DC":[68],"motor)":[69],"exceeds":[70,78],"its":[71,79],"maximum":[72],"power":[73,81,85],"capacity":[74],"far":[76],"more":[77],"heat-converted":[80,84],"limit.":[82],"The":[83],"is":[91],"thus":[92],"considered":[93],"as":[94],"actuation":[96],"bound":[97],"trajectories":[104],"are":[105],"generated":[106],"by":[107],"using":[108],"phase-plane":[110],"analysis":[111],"linear":[114],"programming":[115,154],"technique":[116],"bound.":[120],"Computer":[121],"simulation":[122],"also":[124],"executed":[125],"on":[126],"three-link":[128],"planar":[129],"rotary":[130],"manipulator":[131],"demonstrate":[133],"effectiveness":[135],"proposed":[138],"scheme.":[139],"Keywords:":[140],"Kinematically":[141],"manipulatortime-optimal":[143],"controllimit":[144],"motorheat-converted":[150],"powerphase":[151],"plane":[152],"analysislinear":[153],"technique.":[155]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}