{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:16Z","timestamp":1737263836357,"version":"3.33.0"},"reference-count":18,"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":4364,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1995,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The redundancy resolution problem for kinematically redundant serial chain manipulators is addressed. In this article we present a generalization of the geometry\u2010based rate allocation algorithm, developed initially for only a minimum norm solution, to obtain the optimal joint rate solution for any specified objective function, with or without weightage. This generalization is made possible through a physial interpretation of the common pseudoinverse\u2010based gradient solution scheme, and by developing a modified formulation for the objective function as a minimum criterion not with respect to the origin of the joint rate space, but with respect to another point in the joint rate space represented by the gradient of the specified objective. Application examples of the algorithm including procedures of solution are demonstrated using 7R manipulators with two generic types of geometry. Moreover, a closed form optimal solution for the class of 7R anthropomorphic arms is also given. \u00a9<jats:italic>1995 John Wiley &amp; Sons, Inc.<\/jats:italic><\/jats:p>","DOI":"10.1002\/rob.4620120406","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:04:49Z","timestamp":1183745089000},"page":"275-285","source":"Crossref","is-referenced-by-count":0,"title":["Geometry\u2010based efficient rata coordination for manipulators with kinematic redundancy"],"prefix":"10.1002","volume":"12","author":[{"given":"K. R.","family":"Hareendra Varma","sequence":"first","affiliation":[]},{"given":"Ming Z.","family":"Huang","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"doi-asserted-by":"publisher","key":"e_1_2_1_2_2","DOI":"10.1109\/TSMC.1977.4309644"},{"volume-title":"Generalized Inverse Of Matrices and Its. Applications","year":"1971","author":"Rao C. R.","key":"e_1_2_1_3_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_4_2","DOI":"10.1109\/TMMS.1969.299896"},{"key":"e_1_2_1_5_2","article-title":"Use of redundancy in the design of robotics systems,","volume":"2","author":"Klein C. A.","year":"1985","journal-title":"Int. J. Rob. Res."},{"unstructured":"T.Yoshikawa \u201cAnalysis and control of robot manipulations with redundancy \u201dProc. Symp. Rob. Res. Cambridge 1984 pp.735\u2013747.","key":"e_1_2_1_6_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_7_2","DOI":"10.1109\/TAC.1980.1102314"},{"doi-asserted-by":"crossref","unstructured":"C.ChevellereauandW.Khalil \u201cA new method for the solution of the inverse kinematics of redundant robots \u201dProc. IEEE Int. Conf. Rob. Autom.1988 pp.37\u201342.","key":"e_1_2_1_8_2","DOI":"10.1109\/ROBOT.1988.12020"},{"unstructured":"R. V.Dubey J. A.Euler andS. M.Babcock \u201cAn efficient gradient projection scheme for a seven degree of freedom redundant robot with spherical wrist \u201dProc. IEEE Int. Conf. Rob. Autom. 1988 pp.280\u201336.","key":"e_1_2_1_9_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_10_2","DOI":"10.1177\/027836498900800605"},{"doi-asserted-by":"publisher","key":"e_1_2_1_11_2","DOI":"10.1109\/ICAR.1991.240386"},{"unstructured":"M. Z.HuangandH.Varma \u201cOptimal rate allocation in kinematically redundant manipulators\u2014The dual projection method \u201dProc. IEEE Int. Conf. Rob. Autom. Sacramento CA 1991.","key":"e_1_2_1_12_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_13_2","DOI":"10.1115\/1.3259036"},{"key":"e_1_2_1_14_2","article-title":"Series parallel dualities in actively coordinated mechanisms,","volume":"4","author":"Waldron K. J.","year":"1987","journal-title":"Int. J. Rob. Res."},{"volume-title":"Actively coordinated vehicle systems","year":"1987","author":"Kumar V.","key":"e_1_2_1_15_2"},{"doi-asserted-by":"crossref","unstructured":"V.KumarandK. J.Waldron \u201cForce distribution in closed kinematic chains \u201dProc. IEEE Int. Conf. Rob. Autom. 1988.","key":"e_1_2_1_16_2","DOI":"10.1109\/56.9303"},{"key":"e_1_2_1_17_2","article-title":"Optimum kinematic design for a seven degrees of freedom manipulator,","volume":"2","author":"Hollerbach J. M.","year":"1985","journal-title":"Int. J. Rob. Res."},{"unstructured":"H.Varma \u201cOptimal coordination of robotic systems with redundancy \u201d Ph.D. Dissertation Florida Atlantic University Boca Raton FL 1991.","key":"e_1_2_1_18_2"},{"doi-asserted-by":"crossref","unstructured":"K. J.WaldronandJ.Reidy \u201cA study of kinematically redundant manipulator structure \u201dProc. IEEE Int. Conf. Rob. Autom. 1986 pp.1\u20138.","key":"e_1_2_1_19_2","DOI":"10.1109\/ROBOT.1986.1087707"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620120406","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620120406","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:51:26Z","timestamp":1737186686000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620120406"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,4]]},"references-count":18,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1995,4]]}},"alternative-id":["10.1002\/rob.4620120406"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620120406","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1995,4]]}}}