{"id":"https://openalex.org/W2294388430","doi":"https://doi.org/10.1177/0959651815583423","title":"Generating optimal reference kinematic configurations for hyper-redundant parallel robots","display_name":"Generating optimal reference kinematic configurations for hyper-redundant parallel robots","publication_year":2015,"publication_date":"2015-05-21","ids":{"openalex":"https://openalex.org/W2294388430","doi":"https://doi.org/10.1177/0959651815583423","mag":"2294388430"},"language":"en","primary_location":{"id":"doi:10.1177/0959651815583423","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651815583423","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control 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/A5039071834","display_name":"Abdelhakim Chibani","orcid":null},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Abdelhakim Chibani","raw_affiliation_strings":["Faculty of Engineering Sciences, University Constantine 1, Constantine, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering Sciences, University Constantine 1, Constantine, Algeria","institution_ids":["https://openalex.org/I125485651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089524238","display_name":"Chawki Mahfoudi","orcid":null},"institutions":[{"id":"https://openalex.org/I3132180716","display_name":"Larbi Ben M'hidi University of Oum El Bouaghi","ror":"https://ror.org/0034tbg85","country_code":"DZ","type":"education","lineage":["https://openalex.org/I3132180716"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Chawki Mahfoudi","raw_affiliation_strings":["Mechanical Department, Faculty of Applied Sciences, University of Larbi Ben M\u2019Hidi, Oum El Bouaghi, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Department, Faculty of Applied Sciences, University of Larbi Ben M\u2019Hidi, Oum El Bouaghi, Algeria","institution_ids":["https://openalex.org/I3132180716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015871364","display_name":"Taha Chettibi","orcid":"https://orcid.org/0000-0001-9097-851X"},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Taha Chettibi","raw_affiliation_strings":["Laboratory of Structure Mechanics, EMP, Algiers, Algeria","Laboratory of Structure Mechanics (EMP, BP 17, Bordj El Bahri, 16111 Alger - Algeria)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Structure Mechanics, EMP, Algiers, Algeria","institution_ids":[]},{"raw_affiliation_string":"Laboratory of Structure Mechanics (EMP, BP 17, Bordj El Bahri, 16111 Alger - Algeria)","institution_ids":["https://openalex.org/I2802493600"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061984641","display_name":"Rochdi Merzouki","orcid":"https://orcid.org/0000-0001-9153-6078"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]},{"id":"https://openalex.org/I4210154774","display_name":"Polytech Lille","ror":"https://ror.org/05339ng12","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210154774"]},{"id":"https://openalex.org/I4387153239","display_name":"Centre de Recherche en Informatique, Signal et Automatique de Lille","ror":"https://ror.org/05vrs3189","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2279609970","https://openalex.org/I4387153239","https://openalex.org/I7454413"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Rochdi Merzouki","raw_affiliation_strings":["CRIStAL CNRS-UMR 9189, Polytech\u2019Lille, University of Lille 1, Villeneuve d\u2019Ascq, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRIStAL CNRS-UMR 9189, Polytech\u2019Lille, University of Lille 1, Villeneuve d\u2019Ascq, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210154774","https://openalex.org/I4387153239"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113463419","display_name":"Abdelouhab Zaatri","orcid":null},"institutions":[{"id":"https://openalex.org/I125485651","display_name":"University Fr\u00e8res Mentouri Constantine 1","ror":"https://ror.org/017wv6808","country_code":"DZ","type":"education","lineage":["https://openalex.org/I125485651"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Abdelouhab Zaatri","raw_affiliation_strings":["Faculty of Engineering Sciences, University Constantine 1, Constantine, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering Sciences, University Constantine 1, Constantine, Algeria","institution_ids":["https://openalex.org/I125485651"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5061984641"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I2279609970","https://openalex.org/I4210154774","https://openalex.org/I4387153239"],"apc_list":null,"apc_paid":null,"fwci":0.5931,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.76440394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"229","issue":"9","first_page":"867","last_page":"882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"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/kinematics","display_name":"Kinematics","score":0.8830466270446777},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5950527787208557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5606003403663635},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5395011901855469},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5223830342292786},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.49911069869995117},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.43294209241867065},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42405790090560913},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4142898619174957},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40946751832962036},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4009903073310852},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3590432405471802},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34733083844184875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3047882318496704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28408271074295044},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06619063019752502}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8830466270446777},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5950527787208557},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5606003403663635},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5395011901855469},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5223830342292786},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.49911069869995117},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.43294209241867065},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42405790090560913},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4142898619174957},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40946751832962036},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4009903073310852},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3590432405471802},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34733083844184875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3047882318496704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28408271074295044},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06619063019752502},{"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},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0959651815583423","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651815583423","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01447776v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01447776","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2015, 229, pp.867 - 882. ⟨10.1177/0959651815583423⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W136729126","https://openalex.org/W1566405224","https://openalex.org/W1615548405","https://openalex.org/W1969140852","https://openalex.org/W1980039387","https://openalex.org/W1982082424","https://openalex.org/W2016630626","https://openalex.org/W2025469203","https://openalex.org/W2028384208","https://openalex.org/W2053485789","https://openalex.org/W2063797945","https://openalex.org/W2077129956","https://openalex.org/W2094832095","https://openalex.org/W2096645690","https://openalex.org/W2117257735","https://openalex.org/W2135529998","https://openalex.org/W2147492425","https://openalex.org/W2187962003","https://openalex.org/W2577395824","https://openalex.org/W4210878176","https://openalex.org/W4212997115"],"related_works":["https://openalex.org/W2051802930","https://openalex.org/W2106509686","https://openalex.org/W2022764191","https://openalex.org/W2081541259","https://openalex.org/W2928598186","https://openalex.org/W2361428515","https://openalex.org/W2357377016","https://openalex.org/W4390144091","https://openalex.org/W2122703848","https://openalex.org/W2162859138"],"abstract_inverted_index":{"In":[0],"this":[1,70,97],"article,":[2],"we":[3],"propose":[4],"an":[5],"optimization":[6,29],"process":[7,73],"able":[8],"to":[9,88],"generate":[10],"optimal":[11],"kinematic":[12,37,62],"configuration":[13],"for":[14,41,54],"spatial":[15],"hyper-redundant":[16],"manipulators":[17],"with":[18,105],"multiple":[19],"rigid":[20],"parallel":[21],"modules.":[22],"The":[23],"proposed":[24,94],"method":[25,47],"uses":[26],"a":[27,51,112],"deterministic":[28],"scheme":[30],"that":[31],"evaluates":[32],"the":[33,56,60,66,78,90,93,106],"score":[34],"of":[35,92,111],"trial":[36],"configurations":[38],"while":[39],"accounting":[40],"various":[42],"geometric":[43],"constraints.":[44],"This":[45,72],"versatile":[46],"is":[48,74],"based":[49],"on":[50],"simultaneous":[52],"search":[53],"both":[55],"best":[57],"curve":[58],"capturing":[59],"overall":[61],"robot":[63,114],"posture":[64],"and":[65],"platform":[67],"distribution":[68],"along":[69],"curve.":[71],"carried":[75],"out":[76],"using":[77],"powerful":[79],"sequential":[80],"quadratic":[81],"programming":[82],"technique.":[83],"Numerical":[84],"results":[85],"are":[86],"presented":[87],"illustrate":[89],"efficiency":[91],"approach.":[95],"Finally,":[96],"model":[98],"was":[99],"validated":[100],"by":[101],"real":[102],"measurements":[103],"obtained":[104],"continuum":[107],"bionic":[108],"handling":[109],"arm":[110],"mobile":[113],"called":[115],"Robotino-XT.":[116]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-25T17:18:41.151588","created_date":"2025-10-10T00:00:00"}