{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,7]],"date-time":"2025-07-07T06:46:38Z","timestamp":1751870798886,"version":"3.33.0"},"reference-count":24,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article presents a new method for generating inverse kinematic solutions for planar manipulators with large redundancy (hyper\u2010redundant manipulators). The proposed method starts by decomposing a planar redundant manipulator into a series of local planar arms that are either 2\u2010link or 3\u2010link manipulator modules, and connecting the conjunction points between them with virtual links. The manipulator then can be handled by a simple virtual link system, which may be conveniently divided into non\u2010singular and singular cases depending on its configuration. When the virtual link system is no longer effective due to a singular configuration, the displacement of the end\u2010effector is then allocated to virtual links according to a displacement distribution criterion. A dexterity index called the \u201cconfiguration index\u201d distinguishes the non\u2010singular and singular cases. The concept of virtual link is shown by computer simulations to be simple and effective for the inverse kinematics of a planar hyper\u2010redundant manipulator with a discrete model. In particular, it can be applied to solving the inverse kinematics of a SCARA\u2010type spatial redundant manipulator whose redundancy is included in its planar mechanism. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110205","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:23:06Z","timestamp":1183731786000},"page":"117-128","source":"Crossref","is-referenced-by-count":16,"title":["Inverse kinematics of planar redundant manipulators via virtual links with configuration index"],"prefix":"10.1002","volume":"11","author":[{"given":"W. J.","family":"Chung","sequence":"first","affiliation":[]},{"given":"Y.","family":"Youm","sequence":"additional","affiliation":[]},{"given":"W. 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