{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,2]],"date-time":"2026-01-02T16:47:45Z","timestamp":1767372465741,"version":"3.33.0"},"reference-count":30,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7345,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A number of methods have been proposed for the control of kinematically redundant manipulators, that is, those with more than the minimum number of degrees of freedom. This article uses a dynamic simulation to test whether proposed schemes should, in fact, work well when the dynamics of the actual system are considered. In order to perform a realistic simulation, a nine\u2010degree\u2010of\u2010freedom arm has been designed using commercially available motors. The simulation shows the effects that specifying a secondary goal has on the satisfaction of the primary goal. Also shown is the dependence of servo performance on modeling the load.<\/jats:p>","DOI":"10.1002\/rob.4620040103","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:46:17Z","timestamp":1183700777000},"page":"5-23","source":"Crossref","is-referenced-by-count":34,"title":["Dynamic simulation of a kinematically redundant manipulator system"],"prefix":"10.1002","volume":"4","author":[{"given":"Charles A.","family":"Klein","sequence":"first","affiliation":[]},{"given":"Antonio I.","family":"Chirco","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"volume-title":"Robot Manipulators: Mathematics","year":"1981","author":"Paul R. P.","key":"e_1_2_1_2_2"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"volume-title":"Generalized Inverse of Matrices and its Applications","year":"1971","author":"Rao C. R.","key":"e_1_2_1_4_2"},{"key":"e_1_2_1_5_2","first-page":"155","volume-title":"Robotics Research: The Second International Symposium","author":"Nakamura Y.","year":"1985"},{"issue":"12","key":"e_1_2_1_6_2","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","article-title":"Automatic Supervisory Control of the Configuration and Behavior of Mul\u2010tibody Mechanisms","volume":"7","author":"Liegeois A.","year":"1977","journal-title":"IEEE Trans. Syst. Man, Cybern."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010303"},{"key":"e_1_2_1_8_2","first-page":"175","volume-title":"The First International Symposium on Robotics Research","author":"Trevelyan J. P.","year":"1984"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"T.Yoshikawa \u201cManipulability and Redundancy Control of Robotic Mechanisms \u201d Proceedings of the 1985 IEEE International Conference on Robotics Automation March1985 pp.1004\u20131009.","DOI":"10.1109\/ROBOT.1985.1087283"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"M. M.StanisicandG. R.Pennock \u201cA Non\u2010Degenerate Orientation Solution of a Four\u2010Jointed Wrist \u201d Proceedings of the 1985 IEEE International Conference on Robotics Automation March1985 pp.998\u20131003.","DOI":"10.1109\/ROBOT.1985.1087382"},{"key":"e_1_2_1_11_2","first-page":"215","volume-title":"Robotics Research: The Second International Symposium","author":"Hollerbach J. M.","year":"1985"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020404"},{"key":"e_1_2_1_13_2","unstructured":"K. J.Waldron private communications 1980."},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"volume-title":"Products of Pittman","year":"1981","key":"e_1_2_1_15_2"},{"volume-title":"Engineering Data and Specifications\u2014Servodisc Motors: U\u2010Series","year":"1982","key":"e_1_2_1_16_2"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"e_1_2_1_18_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul \u201cKinematic Programming Alternatives for Redundant Manipulators \u201d in: Proceedings of the 1985 IEEE International Conference on Robotics Automation March1985 pp.722\u2013728.","DOI":"10.1109\/ROBOT.1985.1087234"},{"key":"e_1_2_1_19_2","doi-asserted-by":"crossref","unstructured":"P. H.Chang \u201cA closed\u2010form solution for the control of Manipulators with kinematic redundancy\u201d Proceedings of the 1986 IEEE International Conference on Robotics and Automation April1986 pp.9\u201314.","DOI":"10.1109\/ROBOT.1986.1087725"},{"issue":"1","key":"e_1_2_1_20_2","first-page":"113","article-title":"Dynamic Manipulability of Robot Manipulators","volume":"2","author":"Yoshikawa T.","year":"1985","journal-title":"J. Robotic Syst."},{"key":"e_1_2_1_21_2","first-page":"208","volume-title":"Robotic Research: The Second International Symposium","author":"Klein C. A.","year":"1985"},{"key":"e_1_2_1_22_2","unstructured":"C. A.KleinandB.Blaho \u201cDexterity Measures for the Design and Control of Kinematically Redundant Manipulators \u201d to be published."},{"key":"e_1_2_1_23_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010106"},{"key":"e_1_2_1_24_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149599"},{"key":"e_1_2_1_25_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139699"},{"volume-title":"Applied Numerical Analysis","year":"1980","author":"Gerald C. F.","key":"e_1_2_1_26_2"},{"key":"e_1_2_1_27_2","doi-asserted-by":"crossref","unstructured":"J. Y. S.Luh M. W.Walker andR. P.Paul \u201cResolved\u2010Acceleration Control of Mechanical Manipulators \u201d IEEE Trans. Autom. Control AC\u201025(3) 468\u2013474(1980).","DOI":"10.1109\/TAC.1980.1102367"},{"key":"e_1_2_1_28_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010205"},{"key":"e_1_2_1_29_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313163"},{"key":"e_1_2_1_30_2","unstructured":"A. I.Chirco \u201cDynamic Simulation and Control of a Redundant Manipulator \u201d M.S. thesis The Ohio State University December1984."},{"volume-title":"Linear Control System Analysis and Design: Conventional and Modern","year":"1981","author":"D'Azzo J. J.","key":"e_1_2_1_31_2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040103","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040103","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:56:16Z","timestamp":1737183376000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040103"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,2]]},"references-count":30,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1987,2]]}},"alternative-id":["10.1002\/rob.4620040103"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040103","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1987,2]]}}}