{"id":"https://openalex.org/W4304183821","doi":"https://doi.org/10.3390/sym14102066","title":"Redundant Posture Optimization for 6R Robotic Milling Based on Piecewise-Global-Optimization-Strategy Considering Stiffness, Singularity and Joint-Limit","display_name":"Redundant Posture Optimization for 6R Robotic Milling Based on Piecewise-Global-Optimization-Strategy Considering Stiffness, Singularity and Joint-Limit","publication_year":2022,"publication_date":"2022-10-04","ids":{"openalex":"https://openalex.org/W4304183821","doi":"https://doi.org/10.3390/sym14102066"},"language":"en","primary_location":{"id":"doi:10.3390/sym14102066","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14102066","pdf_url":"https://www.mdpi.com/2073-8994/14/10/2066/pdf?version=1666606299","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/14/10/2066/pdf?version=1666606299","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048658759","display_name":"Hepeng Ni","orcid":null},"institutions":[{"id":"https://openalex.org/I44445938","display_name":"Shandong Jianzhu University","ror":"https://ror.org/01gbfax37","country_code":"CN","type":"education","lineage":["https://openalex.org/I44445938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hepeng Ni","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan 250101, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan 250101, China","institution_ids":["https://openalex.org/I44445938"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020023305","display_name":"Shuai Ji","orcid":"https://orcid.org/0000-0001-9052-7911"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuai Ji","raw_affiliation_strings":["School of Mechanical Engineering, Shandong University, Jinan 250061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shandong University, Jinan 250061, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029071447","display_name":"Yingxin Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I44445938","display_name":"Shandong Jianzhu University","ror":"https://ror.org/01gbfax37","country_code":"CN","type":"education","lineage":["https://openalex.org/I44445938"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingxin Ye","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan 250101, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan 250101, China","institution_ids":["https://openalex.org/I44445938"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020023305"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":1.0916,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.76465851,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"14","issue":"10","first_page":"2066","last_page":"2066"},"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9958999752998352,"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/workspace","display_name":"Workspace","score":0.7162728309631348},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.6563268303871155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5634766817092896},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5542108416557312},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5405181646347046},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5325694680213928},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5261126160621643},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48464781045913696},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.47210851311683655},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4582265317440033},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.446972519159317},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.446610689163208},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.42709964513778687},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2908526062965393},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21740731596946716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20492008328437805},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17486971616744995},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14506497979164124},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14473187923431396},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08165353536605835}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7162728309631348},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.6563268303871155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5634766817092896},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5542108416557312},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5405181646347046},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5325694680213928},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5261126160621643},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48464781045913696},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.47210851311683655},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4582265317440033},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.446972519159317},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.446610689163208},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.42709964513778687},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2908526062965393},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21740731596946716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20492008328437805},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17486971616744995},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14506497979164124},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14473187923431396},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08165353536605835},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/sym14102066","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14102066","pdf_url":"https://www.mdpi.com/2073-8994/14/10/2066/pdf?version=1666606299","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:82147f6326b349c183216252d5accbff","is_oa":true,"landing_page_url":"https://doaj.org/article/82147f6326b349c183216252d5accbff","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry, Vol 14, Iss 10, p 2066 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2073-8994/14/10/2066/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/sym14102066","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":"Symmetry","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/sym14102066","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14102066","pdf_url":"https://www.mdpi.com/2073-8994/14/10/2066/pdf?version=1666606299","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"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":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1032150497","display_name":null,"funder_award_id":"ZR2019QEE042","funder_id":"https://openalex.org/F4320329857","funder_display_name":"Major Scientific and Technological Innovation Project of Shandong Province"},{"id":"https://openalex.org/G4814159788","display_name":null,"funder_award_id":"ZR2019QEE042","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G5330883106","display_name":null,"funder_award_id":"2022CXGC010101","funder_id":"https://openalex.org/F4320329857","funder_display_name":"Major Scientific and Technological Innovation Project of Shandong Province"},{"id":"https://openalex.org/G6475728378","display_name":null,"funder_award_id":"ZR2021QE128","funder_id":"https://openalex.org/F4320329857","funder_display_name":"Major Scientific and Technological Innovation Project of Shandong Province"},{"id":"https://openalex.org/G7006841642","display_name":null,"funder_award_id":"2022CXGC010101","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G8366484146","display_name":null,"funder_award_id":"ZR2021QE128","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null},{"id":"https://openalex.org/F4320329857","display_name":"Major Scientific and Technological Innovation Project of Shandong Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4304183821.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1965207107","https://openalex.org/W1967483785","https://openalex.org/W1969861458","https://openalex.org/W2000555048","https://openalex.org/W2009272203","https://openalex.org/W2037692369","https://openalex.org/W2061593580","https://openalex.org/W2289326762","https://openalex.org/W2578214457","https://openalex.org/W2592725339","https://openalex.org/W2606510896","https://openalex.org/W2742845235","https://openalex.org/W2794236522","https://openalex.org/W2883385699","https://openalex.org/W2884272275","https://openalex.org/W2887857010","https://openalex.org/W2896918312","https://openalex.org/W2934971075","https://openalex.org/W3005265856","https://openalex.org/W3020947218","https://openalex.org/W3028063543","https://openalex.org/W3089518121","https://openalex.org/W3117201520","https://openalex.org/W3121118088","https://openalex.org/W3184859088"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2090392331","https://openalex.org/W3122438115"],"abstract_inverted_index":{"Robotic":[0],"machining":[1,31,71,181],"has":[2],"obtained":[3],"growing":[4],"attention":[5],"recently":[6],"because":[7],"of":[8,17,23,25,30,36,41,73,79,129,191,207,217],"the":[9,28,34,39,70,74,80,85,97,102,118,126,136,142,152,155,169,180,188,192,200,214,218],"low":[10],"cost,":[11],"high":[12],"flexibility":[13],"and":[14,47,54,88,107,131,197],"large":[15],"workspace":[16],"industrial":[18],"robots":[19],"(IRs).":[20],"Multiple":[21],"degrees":[22],"freedom":[24],"IRs":[26],"improve":[27,69],"dexterity":[29],"while":[32],"causing":[33],"problem":[35],"redundancy.":[37],"Meanwhile,":[38],"performance":[40,72,127,216],"IRs,":[42],"such":[43],"as":[44,101,135],"their":[45,52,161],"stiffness":[46,132],"dexterity,":[48],"is":[49,66,99,111,145,176,195],"affected":[50],"by":[51,199],"position":[53],"posture":[55,60],"obviously.":[56],"Therefore,":[57],"a":[58,105,184,205],"redundant":[59,148],"optimization":[61,137,193],"method":[62,110],"for":[63,147,179],"robotic":[64],"milling":[65],"proposed":[67,112,146,219],"to":[68,113,151,167,212],"robot.":[75],"The":[76],"multiple":[77],"characteristics":[78],"robot":[81],"are":[82,133,164,210],"considered,":[83],"including":[84],"joint-limit,":[86],"singularity":[87,130],"stiffness,":[89],"which":[90,175],"have":[91],"symmetry":[92],"in":[93,160,172],"its":[94],"workspace.":[95],"Firstly,":[96],"joint-limit":[98],"regarded":[100],"constraint.":[103],"And":[104],"symmetrical":[106],"effective":[108],"constraint":[109],"simply":[114],"guarantee":[115],"that":[116],"all":[117,154],"interpolation":[119],"points":[120,159],"can":[121],"avoid":[122,168],"joint":[123],"interference.":[124],"Then,":[125],"indices":[128],"designed":[134,201],"target.":[138],"On":[139],"this":[140],"basis,":[141],"piecewise-global-optimization-strategy":[143],"(PGOS)":[144],"optimization.":[149],"Owning":[150],"PGOS,":[153],"given":[156],"planned":[157],"tool":[158],"corresponding":[162],"segment":[163],"considered":[165,196],"simultaneously":[166],"gradual":[170],"deterioration":[171],"traditional":[173],"methods,":[174],"especially":[177],"suitable":[178],"process":[182],"with":[183],"continuous":[185],"path.":[186],"Moreover,":[187],"computational":[189],"load":[190],"solution":[194],"limited":[198],"segmentation":[202],"strategy.":[203],"Finally,":[204],"series":[206],"comparative":[208],"simulations":[209],"conducted":[211],"validate":[213],"good":[215],"method.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}