{"id":"https://openalex.org/W2991301202","doi":"https://doi.org/10.3390/robotics8040098","title":"Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot","display_name":"Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot","publication_year":2019,"publication_date":"2019-11-26","ids":{"openalex":"https://openalex.org/W2991301202","doi":"https://doi.org/10.3390/robotics8040098","mag":"2991301202"},"language":"en","primary_location":{"id":"doi:10.3390/robotics8040098","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040098","pdf_url":"https://www.mdpi.com/2218-6581/8/4/98/pdf?version=1575367453","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/2218-6581/8/4/98/pdf?version=1575367453","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071173134","display_name":"Gerold Huber","orcid":"https://orcid.org/0000-0002-7711-5434"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Gerold Huber","raw_affiliation_strings":["Chair of Automatic Control Engineering (LSR), Department of Electrical and Computer Engineering, Technical University of Munich (TUM), 80333 Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7711-5434","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering (LSR), Department of Electrical and Computer Engineering, Technical University of Munich (TUM), 80333 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Wollherr","raw_affiliation_strings":["Chair of Automatic Control Engineering (LSR), Department of Electrical and Computer Engineering, Technical University of Munich (TUM), 80333 Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2810-6790","affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering (LSR), Department of Electrical and Computer Engineering, Technical University of Munich (TUM), 80333 Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5071173134"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":284,"currency":"EUR","value_usd":306},"fwci":0.9029,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.73639303,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"8","issue":"4","first_page":"98","last_page":"98"},"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":0.9973999857902527,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7476641535758972},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.632064163684845},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5867249369621277},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5636345744132996},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5404269695281982},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5195720195770264},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5157716274261475},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4739511013031006},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.45155346393585205},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41128820180892944},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35887467861175537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3408598303794861},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21266716718673706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2054082453250885},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.15127983689308167},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14087235927581787},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07126587629318237}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7476641535758972},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.632064163684845},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5867249369621277},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5636345744132996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5404269695281982},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5195720195770264},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5157716274261475},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4739511013031006},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.45155346393585205},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41128820180892944},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35887467861175537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3408598303794861},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21266716718673706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2054082453250885},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.15127983689308167},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14087235927581787},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07126587629318237},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics8040098","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040098","pdf_url":"https://www.mdpi.com/2218-6581/8/4/98/pdf?version=1575367453","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:mediatum.ub.tum.de:node/1534149","is_oa":true,"landing_page_url":"https://www.mdpi.com/2218-6581/8/4/98","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"","raw_type":"article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1543503","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1543503","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"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":"article"},{"id":"pmh:oai:zenodo.org:4729884","is_oa":true,"landing_page_url":"https://zenodo.org/record/4729884","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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 8(4)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/robotics8040098","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040098","pdf_url":"https://www.mdpi.com/2218-6581/8/4/98/pdf?version=1575367453","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":[{"score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2991301202.pdf","grobid_xml":"https://content.openalex.org/works/W2991301202.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W1967092097","https://openalex.org/W1972048784","https://openalex.org/W1974477792","https://openalex.org/W1976523141","https://openalex.org/W1993383995","https://openalex.org/W1996123965","https://openalex.org/W2006288098","https://openalex.org/W2026054764","https://openalex.org/W2032381729","https://openalex.org/W2042913147","https://openalex.org/W2043490072","https://openalex.org/W2044500908","https://openalex.org/W2045874040","https://openalex.org/W2049410986","https://openalex.org/W2053957473","https://openalex.org/W2054478282","https://openalex.org/W2069022569","https://openalex.org/W2101902009","https://openalex.org/W2103061228","https://openalex.org/W2108672171","https://openalex.org/W2110395933","https://openalex.org/W2112288088","https://openalex.org/W2117758942","https://openalex.org/W2119403459","https://openalex.org/W2132558143","https://openalex.org/W2140003424","https://openalex.org/W2148832281","https://openalex.org/W2152107803","https://openalex.org/W2159806973","https://openalex.org/W2171843460","https://openalex.org/W2293268320","https://openalex.org/W2294389641","https://openalex.org/W2324665307","https://openalex.org/W2412757349","https://openalex.org/W2551644272","https://openalex.org/W2555113746","https://openalex.org/W2562222449","https://openalex.org/W2591194352","https://openalex.org/W2737895369","https://openalex.org/W2767708052","https://openalex.org/W2773886472","https://openalex.org/W2784320602","https://openalex.org/W2787736324","https://openalex.org/W2807702428","https://openalex.org/W2911305610","https://openalex.org/W2995621039","https://openalex.org/W4239428402","https://openalex.org/W4243385754","https://openalex.org/W6685272475"],"related_works":["https://openalex.org/W4231651419","https://openalex.org/W2744818472","https://openalex.org/W4244134337","https://openalex.org/W2991355169","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W2032588411","https://openalex.org/W4283266117","https://openalex.org/W2063235357","https://openalex.org/W3209679259"],"abstract_inverted_index":{"With":[0],"the":[1,95,129],"increasing":[2],"demand":[3],"for":[4,53,68,83,133],"robots":[5,55],"to":[6,10,30],"react":[7],"and":[8,112,125],"adapt":[9],"unforeseen":[11],"events,":[12],"it":[13],"is":[14,26,45,66],"essential":[15,67],"that":[16],"a":[17,27,34,73,84,101],"robot":[18,74,91,152],"preserves":[19],"agility":[20,32],"at":[21,33],"all":[22],"times.":[23],"While":[24],"manipulability":[25,99,132],"common":[28],"measure":[29],"quantify":[31],"given":[35],"joint":[36],"configuration,":[37],"an":[38,57],"efficient":[39],"direct":[40,96,124],"evaluation":[41,97],"in":[42,142,148],"task":[43,103,130],"space":[44,104,131],"usually":[46],"not":[47],"possible":[48],"with":[49,56,119,160],"conventional":[50,85],"methods,":[51],"especially":[52],"redundant":[54],"infinite":[58],"number":[59],"of":[60,72,87,98,128,136,151],"Inverse":[61],"Kinematic":[62],"solutions.":[63],"Yet,":[64],"this":[65,77],"global":[69,149,161],"online":[70,162],"optimization":[71,140,150,163],"posture.":[75],"In":[76],"work,":[78],"we":[79],"derive":[80],"analytical":[81],"expressions":[82,108],"7-degrees":[86],"freedom":[88],"(7-DOF)":[89],"serial":[90],"structure,":[92],"which":[93],"enable":[94],"from":[100],"reduced":[102],"parametrization.":[105],"The":[106],"resulting":[107],"allow":[109],"array":[110],"operation":[111],"thus":[113],"achieve":[114],"very":[115],"high":[116],"computational":[117],"efficiency":[118],"vector-optimized":[120],"programming":[121],"languages.":[122],"This":[123],"simultaneous":[126],"calculation":[127],"large":[134],"numbers":[135],"poses":[137],"benefits":[138],"many":[139],"problems":[141],"robotic":[143],"applications.":[144],"We":[145],"show":[146],"applications":[147],"mounting":[153],"poses,":[154],"as":[155,157],"well":[156],"redundancy":[158],"resolution":[159],"w.r.t.":[164],"manipulability.":[165]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}