{"id":"https://openalex.org/W2037787486","doi":"https://doi.org/10.1163/156855397x00227","title":"Redundant actuation of a closed-chain manipulator","display_name":"Redundant actuation of a closed-chain manipulator","publication_year":1996,"publication_date":"1996-01-01","ids":{"openalex":"https://openalex.org/W2037787486","doi":"https://doi.org/10.1163/156855397x00227","mag":"2037787486"},"language":"en","primary_location":{"id":"doi:10.1163/156855397x00227","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855397x00227","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/A5055669356","display_name":"L. Beiner","orcid":null},"institutions":[{"id":"https://openalex.org/I157943965","display_name":"Holon Institute of Technology","ror":"https://ror.org/02prqh017","country_code":"IL","type":"education","lineage":["https://openalex.org/I157943965"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Leon Beiner","raw_affiliation_strings":["a Center for Technological Education Holon (affiliated with Tel Aviv University), 52 Golomb Street, POB 305, Holon 58102, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a Center for Technological Education Holon (affiliated with Tel Aviv University), 52 Golomb Street, POB 305, Holon 58102, Israel","institution_ids":["https://openalex.org/I157943965"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5055669356"],"corresponding_institution_ids":["https://openalex.org/I157943965"],"apc_list":null,"apc_paid":null,"fwci":0.7728,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.72991951,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11","issue":"3","first_page":"233","last_page":"245"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9955999851226807,"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":0.9948999881744385,"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/control-theory","display_name":"Control theory (sociology)","score":0.7700508236885071},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.751431405544281},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6294779181480408},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6075704097747803},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.55503910779953},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.48472094535827637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43045151233673096},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.41471758484840393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39922961592674255},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3250083923339844},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10600560903549194}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7700508236885071},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.751431405544281},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6294779181480408},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6075704097747803},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.55503910779953},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.48472094535827637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43045151233673096},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.41471758484840393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39922961592674255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3250083923339844},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10600560903549194},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855397x00227","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855397x00227","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1941147328","https://openalex.org/W1964431670","https://openalex.org/W1994636052","https://openalex.org/W2076650116","https://openalex.org/W2085495678","https://openalex.org/W2132707830","https://openalex.org/W2135091275","https://openalex.org/W2148370012","https://openalex.org/W3009099156","https://openalex.org/W4248446246"],"related_works":["https://openalex.org/W2555022781","https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2245353192","https://openalex.org/W2906293295","https://openalex.org/W2573562027","https://openalex.org/W2044589112","https://openalex.org/W1571967584","https://openalex.org/W2521586893"],"abstract_inverted_index":{"\u2014A":[0],"method":[1],"for":[2,86,100],"controlling":[3],"the":[4,28,34,42,60,97,101,117,138,145,150,155,165,172,175],"actuation":[5,43,113,167],"redundancy":[6,44,114,168],"of":[7,31,33,149,164,174,185],"a":[8,17,50,67,70,76],"closed-chain":[9],"manipulator":[10,38],"is":[11,45,89,93],"presented.":[12],"The":[13,91,162],"paper":[14],"deals":[15],"with":[16,23,54,182],"2":[18],"d.o.f.":[19],"direct-drive":[20],"parallel":[21],"robot":[22],"one":[24],"additional":[25,151],"actuator.":[26],"First,":[27],"Lagrange":[29],"equations":[30],"motion":[32,103,124],"five-bar,":[35],"inertially":[36],"decoupled":[37],"are":[39,135],"developed.":[40],"Then,":[41],"formulated":[46],"and":[47,56,107,154,188],"solved":[48],"as":[49],"non-linear":[51],"optimization":[52,176],"problem":[53],"equality":[55],"inequality":[57],"constraints,":[58],"minimizing":[59],"joint":[61,98,186],"torques":[62,99],"required":[63],"either":[64],"to":[65,74,144,180],"move":[66],"payload":[68],"along":[69],"given":[71],"path":[72],"or":[73,122],"apply":[75],"specified":[77],"end-point":[78,118],"force.":[79],"A":[80],"closed-form,":[81],"globally":[82],"optimal":[83],"solution":[84,92,169],"suitable":[85],"real-time":[87],"applications":[88],"obtained.":[90],"verified":[94],"by":[95,126,159],"computing":[96],"same":[102],"in":[104,120,130,137,171],"both":[105],"non-redundant":[106],"redundant":[108],"cases.":[109],"Comparison":[110],"shows":[111],"that":[112],"may":[115],"increase":[116],"forces":[119],"static":[121],"slow":[123],"situations":[125],"more":[127],"than":[128],"40%":[129],"certain":[131],"directions.":[132],"Lesser":[133],"gains":[134],"achieved":[136],"dynamic":[139],"load":[140],"carrying":[141],"case,":[142],"due":[143],"lower":[146],"torque/weight":[147],"ratio":[148],"motor":[152],"used":[153],"increased":[156],"inertia":[157],"induced":[158],"its":[160],"mass.":[161],"advantage":[163],"proposed":[166],"consists":[170],"generality":[173],"approach,":[177],"which":[178],"allows":[179],"deal":[181],"various":[183],"types":[184],"torque":[187],"other":[189],"constraints.":[190]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
