{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T08:10:02Z","timestamp":1737187802507,"version":"3.33.0"},"reference-count":26,"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":5398,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article proposes a method for the global optimization of redundancy over the whole task period in a kinematically redundant manipulator. The necessary conditions based on the calculus of variations for integral\u2010type criteria result in a second\u2010order differential equation. For a cyclic task, the boundary conditions for conservative joint motions are discussed. Then, we reformulate a two\u2010point boundary value problem to an initial value adjustment problem and suggest a numerical search method based on the iterative optimization for providing a globally optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of redundancy, we only search parameter values in the parameterized space using the configuration error between the initial and final time. We show through numerical examples that multiple nonhomotopic extremal solutions satisfying periodic boundary conditions exist according to initial joint velocities for the same initial configuration. Finally, we discuss an algorithm for topological liftings of the paths and demonstrate the generality of the proposed method by considering the dynamics of a manipulator.<\/jats:p>","DOI":"10.1002\/rob.4620090404","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:57:38Z","timestamp":1183726658000},"page":"481-503","source":"Crossref","is-referenced-by-count":7,"title":["Optimal redundancy resolution of a kinematically redundant manipulator for a cyclic task"],"prefix":"10.1002","volume":"9","author":[{"given":"Byoung Wook","family":"Choi","sequence":"first","affiliation":[]},{"given":"Jong Hwa","family":"Won","sequence":"additional","affiliation":[]},{"given":"Myung Jin","family":"Chung","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"issue":"12","key":"e_1_2_1_3_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 multibody mechanisms","volume":"7","author":"Li\u00e9geois A.","year":"1977","journal-title":"IEEE Trans. Systems, Man, Cyber."},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"T.Yoshikawa \u201cManipulability and redundancy control of robotic mechanisms \u201d Proc. of IEEE Int. Conf. on Robotics and Automation (March1985 pp.1004\u20131009.","DOI":"10.1109\/ROBOT.1985.1087283"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"J. M.HollerbachandK. C.Suh \u201cRedundancy resolution of manipulators through torque optimization \u201d Proc. of IEEE Int. Conf. on Robotics and Automation March1985 pp.1016\u20131021.","DOI":"10.1109\/ROBOT.1985.1087285"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"R. V.DubeyandJ. Y. S.Luh \u201cRedundant robot control for higher flexibility \u201d Proc. of IEEE Int. Conf. on Robotics and Automation April1987 pp.1066\u20131072.","DOI":"10.1109\/ROBOT.1987.1087918"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"J. A.Euler R. V.Dubey S. M.Badcock andW. R.Hamel \u201cA comparison of two real\u2010time control schemes for redundant manipulators with bounded joint velocities \u201d Proc. of IEEE Int. Conf. on Robotics and Automation May1989 pp.106\u2013112.","DOI":"10.1109\/ROBOT.1989.99975"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul \u201cKinematically programming alternatives for redundant manipulators \u201d Proc. of IEEE Int. Conf. on Robotics and Automation March1985 pp.722\u2013728.","DOI":"10.1109\/ROBOT.1985.1087234"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"P. H.Chang \u201cA closed\u2010form solution for the control of manipulators with kinematic redundancy \u201d Proc. of IEEE Int. Conf. on Robotics and Automation San Francisco CA April1986 pp.9\u201314.","DOI":"10.1109\/ROBOT.1986.1087725"},{"key":"e_1_2_1_11_2","unstructured":"K. C.SuhandJ. M.Hollerbach \u201cLocal versus global torque optimization of redundant manipulators \u201d Proc. of IEEE Int. Conf. on Robotics and Automation April1987 pp.619\u2013624."},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600103"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700501"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88062"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060409"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88067"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800606"},{"key":"e_1_2_1_18_2","doi-asserted-by":"crossref","unstructured":"C. W.Wampler \u201cInverse kinematic functions for redundant manipulators \u201d Proc. of IEEE Int. Conf. on Robotics and Automation April1987 pp.610\u2013617.","DOI":"10.1109\/ROBOT.1987.1087950"},{"key":"e_1_2_1_19_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3259026"},{"volume-title":"Robot Analysis and Control","year":"1987","author":"Asada H.","key":"e_1_2_1_20_2"},{"volume-title":"Global Variational Analysis","year":"1976","author":"Morse M.","key":"e_1_2_1_21_2"},{"volume-title":"Computer Solution of Linear Algebraic Systems","year":"1967","author":"Forsythe G.","key":"e_1_2_1_22_2"},{"volume-title":"Practical Optimization","year":"1981","author":"Gill P. E.","key":"e_1_2_1_23_2"},{"key":"e_1_2_1_24_2","doi-asserted-by":"crossref","unstructured":"J. W.Burdick \u201cOn the inverse kinematics of redundant manipulators: Characterization of the self\u2010motion manifolds \u201d Proc. of IEEE Int. Conf. on Robotics and Automation 1989 pp.264\u2013270.","DOI":"10.1007\/978-3-642-83957-3_3"},{"key":"e_1_2_1_25_2","first-page":"133","volume-title":"New Methods in Optimization and Their Industrial Uses","author":"Rinnooykan A. H. G.","year":"1989"},{"key":"e_1_2_1_26_2","doi-asserted-by":"publisher","DOI":"10.1137\/0906002"},{"volume-title":"Topology: A first course","year":"1975","author":"Munkres J. R.","key":"e_1_2_1_27_2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090404","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090404","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:28:46Z","timestamp":1737185326000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090404"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,6]]},"references-count":26,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1992,6]]}},"alternative-id":["10.1002\/rob.4620090404"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090404","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1992,6]]}}}