{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,11,19]],"date-time":"2024-11-19T16:07:48Z","timestamp":1732032468147},"reference-count":22,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4273,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1995,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A major difficulty that has haunted most researchers in the process of optimal redundancy resolution of robotic manipulators is the instability observed in even very simple numerical simulations. This numerical instability is not related to the structurally singular configurations of the manipulators, and in the literature has been referred to as \u201calgorithmic singularity,\u201d \u201cartificial singularity,\u201d or \u201cunavoidable singularity.\u201d In this work, conditions on both structural and algorithmic singularities are studied based on the Singular Value Decomposition of the Jacobian matrix, and, hence, a singularity\u2010free control algorithm for redundant manipulators is developed and resolved as the Lagrange problem of optimal control. It is shown that many well\u2010known methods for optimal redundant manipulation in the literature, including the Extended Jacobian Technique, most of constraint function\u2010based methods, and most of the previously reported methods on global optimization techniques, are all special cases of the formulation provided here. Further, the necessary conditions of the global optimality for this general formulation are derived in explicit form and the source of \u201calgorithmic singularity\u201d is rigorously identified and resolved. \u00a9 2995 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620120702","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:17:01Z","timestamp":1183745821000},"page":"465-478","source":"Crossref","is-referenced-by-count":4,"title":["Identification and resolution of structural and algorithmic singularity in redundancy control of serial manipulations"],"prefix":"10.1002","volume":"12","author":[{"given":"Zhaoyu","family":"Wang","sequence":"first","affiliation":[]},{"given":"Kazem","family":"Kazerounian","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":"10.1177\/027836498300200103"},{"key":"e_1_2_1_3_2","volume-title":"Optimum kinematic design for a seven degree of freedom manipulator","author":"Hollerbach J. M.","year":"1985"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88067"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800606"},{"key":"e_1_2_1_6_2","unstructured":"J.Baillieu \u201cKinematic programming alternatives for redundant manipulators \u201dProc. IEEE Int. Conf. Rob. Autom. St. Louis 1985."},{"key":"e_1_2_1_7_2","unstructured":"J.Baillieul \u201cA constraint oriented approach to inverse problems for kinematically redundant manipulators \u201dProc. IEEE Int. Conf. Rob. Autom. Raleigh N. Carolina."},{"issue":"5","key":"e_1_2_1_8_2","article-title":"A closed form solution for inverse kinematics of robotic manipulators with redundancy,","volume":"3","author":"Chang P. H.","year":"1987","journal-title":"IEEE J. Rob. Autom."},{"key":"e_1_2_1_9_2","unstructured":"J. Y. S.LuhandY. L.Gu \u201cIndustrial robots with seven joints \u201dProc. IEEE Int. Conf. Rob. Autom. Saint Louis March1985."},{"key":"e_1_2_1_10_2","unstructured":"R.DubeyandJ.Luh \u201cRedundancy robot control for higher flexibility \u201dProc. IEEE Int. Conf. Rob. Autom. Raleigh NC 1987."},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"key":"e_1_2_1_13_2","first-page":"155","volume-title":"Rob. Res.: Int. Symp.","author":"Nakamura Y.","year":"1985"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600103"},{"key":"e_1_2_1_15_2","unstructured":"K.KazerounianandZ.Wang \u201cGlobal versus local optimization in redundancy resolution of robotic manipulators \u201dProc. Appl. Mech. Conf. New Orleans LA 1987."},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700501"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700201"},{"key":"e_1_2_1_18_2","volume-title":"Matrix Computations","author":"Golub G. H.","year":"1983"},{"key":"e_1_2_1_19_2","unstructured":"Z.Wang \u201cGlobal optimality and conservativity in redundancy resolution of robotic manipulators \u201d Ph. D. dissertation The University of Connecticut 1990."},{"key":"e_1_2_1_20_2","volume-title":"Application of symbolic computation in analytic determination of the Jacobian null space of human arm kinematics","author":"Wang Z.","year":"1990"},{"key":"e_1_2_1_21_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-8165-5"},{"key":"e_1_2_1_22_2","volume-title":"Rob. Res.: Int. Symp.","author":"Uchiyama M.","year":"1985"},{"key":"e_1_2_1_23_2","unstructured":"Z.WangandK.Kazerounian \u201cAn efficient algorithm for global optimization in redundant manipulators \u201dTrends and Developments in Mechanisms Machines and Robotics Proc. 20th Biennial Mechanisms Conference Kis\u2010simmee FL 1988."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620120702","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620120702","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,25]],"date-time":"2023-10-25T17:06:41Z","timestamp":1698253601000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620120702"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,7]]},"references-count":22,"journal-issue":{"issue":"7","published-print":{"date-parts":[[1995,7]]}},"alternative-id":["10.1002\/rob.4620120702"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620120702","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1995,7]]}}}