{"id":"https://openalex.org/W3119419649","doi":"https://doi.org/10.3390/robotics10010009","title":"Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators","display_name":"Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators","publication_year":2021,"publication_date":"2021-01-03","ids":{"openalex":"https://openalex.org/W3119419649","doi":"https://doi.org/10.3390/robotics10010009","mag":"3119419649"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10010009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010009","pdf_url":"https://www.mdpi.com/2218-6581/10/1/9/pdf?version=1609655290","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/1/9/pdf?version=1609655290","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040304295","display_name":"Maurizio Ruggiu","orcid":"https://orcid.org/0000-0003-0564-8263"},"institutions":[{"id":"https://openalex.org/I172446870","display_name":"University of Cagliari","ror":"https://ror.org/003109y17","country_code":"IT","type":"education","lineage":["https://openalex.org/I172446870"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Maurizio Ruggiu","raw_affiliation_strings":["Department of Mechanical, Chemical and Materials Engineering, University of Cagliari, Via Marengo, 2, 09123 Cagliari, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical, Chemical and Materials Engineering, University of Cagliari, Via Marengo, 2, 09123 Cagliari, Italy","institution_ids":["https://openalex.org/I172446870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112392532","display_name":"Andreas M\u00fcller","orcid":"https://orcid.org/0000-0002-4468-2651"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Andreas M\u00fcller","raw_affiliation_strings":["Institut for Robotics, Johannes Kepler University, Altenberger Stra\u00dfe, 69-4040 Linz, Austria"],"affiliations":[{"raw_affiliation_string":"Institut for Robotics, Johannes Kepler University, Altenberger Stra\u00dfe, 69-4040 Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5040304295"],"corresponding_institution_ids":["https://openalex.org/I172446870"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.2747,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50984318,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"10","issue":"1","first_page":"9","last_page":"9"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9853000044822693,"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":0.9769999980926514,"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/serial-manipulator","display_name":"Serial manipulator","score":0.8123324513435364},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7993464469909668},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7811254262924194},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7638242244720459},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6510583162307739},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5347192883491516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48098647594451904},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.42185789346694946},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40569037199020386},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33508074283599854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23578530550003052},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.22121873497962952},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2158069610595703},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.15752223134040833}],"concepts":[{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.8123324513435364},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7993464469909668},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7811254262924194},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7638242244720459},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6510583162307739},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5347192883491516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48098647594451904},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.42185789346694946},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40569037199020386},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33508074283599854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23578530550003052},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.22121873497962952},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2158069610595703},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.15752223134040833},{"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/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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics10010009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010009","pdf_url":"https://www.mdpi.com/2218-6581/10/1/9/pdf?version=1609655290","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:d089407c05194c218496dae59eae82fa","is_oa":true,"landing_page_url":"https://doaj.org/article/d089407c05194c218496dae59eae82fa","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 1, p 9 (2021)","raw_type":"article"},{"id":"pmh:oai:iris.unica.it:11584/304197","is_oa":true,"landing_page_url":"https://hdl.handle.net/11584/304197","pdf_url":null,"source":{"id":"https://openalex.org/S4377196293","display_name":"UNICA IRIS Institutional Research Information System (University of Cagliari)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172446870","host_organization_name":"University of Cagliari","host_organization_lineage":["https://openalex.org/I172446870"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/1/9/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10010009","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10010009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10010009","pdf_url":"https://www.mdpi.com/2218-6581/10/1/9/pdf?version=1609655290","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3119419649.pdf","grobid_xml":"https://content.openalex.org/works/W3119419649.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1994875265","https://openalex.org/W2002967483","https://openalex.org/W2026892575","https://openalex.org/W2038533008","https://openalex.org/W2042913147","https://openalex.org/W2070133526","https://openalex.org/W2105087206","https://openalex.org/W2129995994","https://openalex.org/W2144629157","https://openalex.org/W2146475250","https://openalex.org/W2166821224","https://openalex.org/W2799797536","https://openalex.org/W2910577105","https://openalex.org/W3042045548"],"related_works":["https://openalex.org/W2077539837","https://openalex.org/W2115240519","https://openalex.org/W2080642692","https://openalex.org/W2039927751","https://openalex.org/W4231651419","https://openalex.org/W2014652471","https://openalex.org/W2095636070","https://openalex.org/W2991355169","https://openalex.org/W2039076362","https://openalex.org/W2041321921"],"abstract_inverted_index":{"Kinematic":[0],"redundancy":[1,15,48,78],"of":[2,61,74,95,111,115,165,175],"manipulators":[3],"is":[4,37,43,122,142],"a":[5,52,59,62],"well-understood":[6],"topic,":[7],"and":[8,87,106,133],"various":[9],"methods":[10,98,117],"were":[11],"developed":[12],"for":[13,27,128,134],"the":[14,21,39,47,71,82,88,113,116,119,140,152,158,162,166,176],"resolution":[16,79],"in":[17,55,65],"order":[18],"to":[19,51,144,161],"solve":[20],"inverse":[22,40],"kinematics":[23,41],"problem,":[24],"at":[25],"least":[26],"serial":[28,130],"manipulators.":[29,138],"An":[30],"important":[31],"question,":[32],"with":[33],"high":[34],"practical":[35],"relevance,":[36],"whether":[38,46],"solution":[42,49,60],"cyclic,":[44,146],"i.e.,":[45],"leads":[50],"closed":[53,63],"path":[54,64],"joint":[56],"space":[57],"as":[58],"task":[66],"space.":[67],"This":[68],"paper":[69],"investigates":[70],"cyclicity":[72],"property":[73],"two":[75],"widely":[76],"used":[77],"methods,":[80],"namely":[81],"projected":[83],"gradient":[84],"method":[85,91],"(PGM)":[86],"augmented":[89],"Jacobian":[90],"(AJM),":[92],"by":[93],"means":[94],"examples.":[96],"Both":[97],"determine":[99],"solutions":[100],"that":[101,150],"minimize":[102],"an":[103,108,172],"objective":[104,167],"function,":[105],"from":[107,171],"application":[109],"point":[110],"view,":[112],"sensitivity":[114],"on":[118],"initial":[120,173],"configuration":[121,174],"crucial.":[123],"Numerical":[124],"results":[125],"are":[126],"reported":[127],"redundant":[129,135],"robotic":[131],"arms":[132],"parallel":[136],"kinematic":[137],"While":[139],"AJM":[141],"known":[143],"be":[145],"it":[147],"turns":[148],"out":[149],"also":[151],"PGM":[153,159],"exhibits":[154],"cyclicity.":[155],"However,":[156],"only":[157],"converges":[160],"local":[163],"optimum":[164],"function":[168],"when":[169],"starting":[170],"cyclic":[177],"trajectory.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}