{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T05:29:37Z","timestamp":1775712577245,"version":"3.50.1"},"reference-count":16,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7772,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1985,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A solution to the inverse kinematics is a set of joint coordinates which correspond to a given set of task space coordinates (position and orientation of end effector). For the class of kinematically redundant robots, the solution is generically nonunique such that special methods are required for obtaining a solution. The method addressed in the paper, introduced earlier and termed \u201cgeneralized inverse,\u201d is based on a certain partitioning of the Jacobian functional corresponding to a nonlinear relationship of the inverse kinematics type. The article presents a new algorithm for solving the inverse kinematics using the method of generalized inverse based on a modified Newton\u2010Raphson iterative technique. The new algorithm is efficient, converges rapidly, and completely generalizes the solution of the inverse kinematics problem for redundant robots. The method is illustrated by numerical examples.<\/jats:p>","DOI":"10.1002\/rob.4620020404","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:04:16Z","timestamp":1183698256000},"page":"373-385","source":"Crossref","is-referenced-by-count":32,"title":["A solution to the inverse kinematics of redundant manipulators"],"prefix":"10.1002","volume":"2","author":[{"given":"B.","family":"Benhabib","sequence":"first","affiliation":[]},{"given":"A. A.","family":"Goldenberg","sequence":"additional","affiliation":[]},{"given":"R. G.","family":"Fenton","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J.DenavitandR. S.Hartenberg \u201cA Kinematic Notation for Lower\u2010Pair Mechanisms Based on Matrices \u201dJ. Appl. Mech. Trans. ASME June1955 215\u2013221.","DOI":"10.1115\/1.4011045"},{"issue":"6","key":"e_1_2_1_3_2","first-page":"449","article-title":"Kinematic Control Equations for Simple Manipulators","volume":"11","author":"Paul R.","year":"1981","journal-title":"IEEE Trans. SMC"},{"key":"e_1_2_1_4_2","unstructured":"R. G.Fenton B.Benhabib andA. A.Goldenberg \u201cOptimal Point to Point Motion Control of Robots with Redundant Degrees of Freedom \u201d Computer\u2010Integrated Manufacturing and Robotics presented at ASME Winter Annual Meeting 1984 PED\u2010Vol. 13 pp.93\u2013109. Accepted for publication in the Trans. ASME J. Engng. for Industry."},{"key":"e_1_2_1_5_2","unstructured":"B.Benhabib R. G.Fenton andA. A.Goldenberg \u201cPoint to Point Control of Seven Degrees of Freedom Robots for Assembly Operations \u201dProc. 3rd Canadian CAD\/CAM and Robotics Conference 1984 pp.10\u20131\/10\u20137."},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149621"},{"key":"e_1_2_1_7_2","unstructured":"H.Hanafusa T.Yoshikawa andY.Nakamura \u201cAnalysis and Control of Articulated Robot Arms with Redundancy \u201d Technical Report Aut. Res. Lab. Kyoto University."},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"issue":"3","key":"e_1_2_1_9_2","article-title":"Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators","volume":"13","author":"Klein C. A.","year":"1983","journal-title":"IEEE Trans. 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