{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T18:45:25Z","timestamp":1779216325472,"version":"3.51.4"},"publisher-location":"Singapore","reference-count":19,"publisher":"Springer Nature Singapore","isbn-type":[{"value":"9789819607884","type":"print"},{"value":"9789819607891","type":"electronic"}],"license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025]]},"DOI":"10.1007\/978-981-96-0789-1_17","type":"book-chapter","created":{"date-parts":[[2025,1,23]],"date-time":"2025-01-23T19:25:41Z","timestamp":1737660341000},"page":"231-245","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["An Analytical Inverse Kinematics Optimization Method of 7-DOF Anthropomorphic Manipulators with Joint Limits"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8859-7048","authenticated-orcid":false,"given":"Jiacheng","family":"Rong","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pengbo","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ting","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,1,24]]},"reference":[{"issue":"6","key":"17_CR1","doi-asserted-by":"publisher","first-page":"1027","DOI":"10.1002\/rob.21937","volume":"37","author":"B Arad","year":"2020","unstructured":"Arad, B., et al.: Development of a sweet pepper harvesting robot. J. Field Robot. 37(6), 1027\u20131039 (2020)","journal-title":"J. Field Robot."},{"key":"17_CR2","doi-asserted-by":"crossref","unstructured":"Rong, J., Wang, P., Wang, T., Hu, L., Yuan, T: Fruit pose recognition and directional orderly grasping strategies for tomato harvesting robots. Comput. Electron. Agr. 202, 107430 (2022)","DOI":"10.1016\/j.compag.2022.107430"},{"issue":"1","key":"17_CR3","doi-asserted-by":"publisher","first-page":"254","DOI":"10.1007\/s11119-022-09944-w","volume":"24","author":"Z Miao","year":"2023","unstructured":"Miao, Z., et al.: Efficient tomato harvesting robot based on image processing and deep learning. Precis. Agric. 24(1), 254\u2013287 (2023)","journal-title":"Precis. Agric."},{"key":"17_CR4","doi-asserted-by":"crossref","unstructured":"Li, T., Feng, Q., Qiu, Q., Xie, F., Zhao, C: Occluded apple fruit detection and localization with a frustum-based point-cloud-processing approach for robotic harvesting. Rem. Sens. 14(3), 482 (2022)","DOI":"10.3390\/rs14030482"},{"key":"17_CR5","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2023.108488","volume":"216","author":"Y Li","year":"2024","unstructured":"Li, Y., et al.: Peduncle collision-free grasping based on deep reinforcement learning for tomato harvesting robot. Comput. Electron. Agr. 216, 108488 (2024)","journal-title":"Comput. Electron. Agr."},{"key":"17_CR6","doi-asserted-by":"crossref","unstructured":"Tevatia, G., Schaal, S.: Inverse kinematics for humanoid robots. In IEEE International Conference on Robotics and Automation (ICRA), pp. 294\u2013299. IEEE Press, San Francisco (2000)","DOI":"10.1109\/ROBOT.2000.844073"},{"issue":"2","key":"17_CR7","doi-asserted-by":"publisher","first-page":"579","DOI":"10.1109\/70.97869","volume":"7","author":"RV Dubey","year":"1991","unstructured":"Dubey, R.V., Euler, J.A., Babcock, S.M.: Real-time implementation of an optimization scheme for seven-degree-of-freedom redundant manipulators. IEEE Trans. Robot. Autom. 7(2), 579\u2013588 (1991)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"17_CR8","doi-asserted-by":"crossref","unstructured":"Yu, C., Jin, M., Liu, H.: An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist. In 2012 IEEE International Conference on Mechatronics and Automation, pp. 92\u201397. IEEE Press, Chengdu (2012)","DOI":"10.1109\/ICMA.2012.6282813"},{"issue":"5","key":"17_CR9","doi-asserted-by":"publisher","first-page":"1131","DOI":"10.1109\/TRO.2008.2003266","volume":"24","author":"M Shimizu","year":"2008","unstructured":"Shimizu, M., Kakuya, H., Yoon, W.K., Kitagaki, K., Kosuge, K.: Analytical inverse kinematic computation for 7-DOF redundant manipulators with joint limits and its application to redundancy resolution. IEEE Trans. Robot. 24(5), 1131\u20131142 (2008)","journal-title":"IEEE Trans. Robot."},{"key":"17_CR10","doi-asserted-by":"crossref","unstructured":"Luo, R., Lin, T., Tsai, Y: Analytical inverse kinematic solution for modularized 7-DoF redundant manipulators with offsets at shoulder and wrist. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 516\u2013521. IEEE Press, Chicago (2014)","DOI":"10.1109\/IROS.2014.6942608"},{"key":"17_CR11","doi-asserted-by":"publisher","first-page":"317","DOI":"10.1016\/j.mechmachtheory.2017.10.025","volume":"121","author":"C Faria","year":"2018","unstructured":"Faria, C., Ferreira, F., Erlhagen, W., Monteiro, S., Bicho, E.: Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance. Mech. Mach. Theory 121, 317\u2013334 (2018)","journal-title":"Mech. Mach. Theory"},{"issue":"2","key":"17_CR12","doi-asserted-by":"publisher","first-page":"1012","DOI":"10.1109\/TRO.2022.3207616","volume":"39","author":"Z Ren","year":"2023","unstructured":"Ren, Z., Hu, B., Wang, Z., Sun, L., Zhu, Q.: Knowledge database-based multi objective trajectory planning of 7-DOF manipulator with rapid and continuous response to uncertain fast-flying objects. IEEE Trans. Rob. 39(2), 1012\u20131028 (2023)","journal-title":"IEEE Trans. Rob."},{"key":"17_CR13","doi-asserted-by":"publisher","unstructured":"Ren, Z., Wang, Z., Guo, Z., Fan, L.: An optimal configuration solution of\u00a08-dof redundant manipulator for\u00a0flying ball. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol. 14270. Springer, Singapore (2023). https:\/\/doi.org\/10.1007\/978-981-99-6492-5_41","DOI":"10.1007\/978-981-99-6492-5_41"},{"issue":"15","key":"17_CR14","doi-asserted-by":"publisher","first-page":"40","DOI":"10.3901\/JME.2023.15.040","volume":"59","author":"X Zhong","year":"2023","unstructured":"Zhong, X., Wang, H., Liu, C., Chen, Q.: Inverse kinematics resolution method for arm angle parameterized redundant robotic arm based on minimum motion transformation. J. Mech. Eng. 59(15), 40\u201349 (2023)","journal-title":"J. Mech. Eng."},{"issue":"2","key":"17_CR15","doi-asserted-by":"publisher","first-page":"1252","DOI":"10.1016\/j.jfranklin.2020.11.020","volume":"358","author":"X Tian","year":"2021","unstructured":"Tian, X., Xu, Q., Zhan, Q.: An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset. J. Franklin I. 358(2), 1252\u20131272 (2021)","journal-title":"J. Franklin I."},{"issue":"01","key":"17_CR16","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1142\/S0219843610002027","volume":"7","author":"H Gu","year":"2010","unstructured":"Gu, H., Ceccarelli, M., Carbone, G.: Design and simulation of a 1-DOF anthropomorphic clutched arm for humanoid robots. Int. J. Hum. Robot. 7(01), 157\u2013182 (2010)","journal-title":"Int. J. Hum. Robot."},{"key":"17_CR17","doi-asserted-by":"crossref","unstructured":"Yan, L., Mu, Z., Xu, W.: Analytical inverse kinematics of a class of redundant manipulator based on dual arm-angle parameterization. In: 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 3744\u20133749. IEEE Press, San Diego (2014)","DOI":"10.1109\/SMC.2014.6974513"},{"issue":"12","key":"17_CR18","doi-asserted-by":"publisher","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","volume":"7","author":"A Liegeois","year":"1977","unstructured":"Liegeois, A.: Automatic supervisory control of the configuration and behavior of multibody mechanisms. IEEE T. Syst. Man Cy. 7(12), 868\u2013871 (1977)","journal-title":"IEEE T. Syst. Man Cy."},{"key":"17_CR19","doi-asserted-by":"crossref","unstructured":"Kennedy, J., Eberhart, R.: Particle swarm optimization. In: Proceedings of ICNN 1995-International Conference on Neural Networks, pp. 1942\u20131948. IEEE Press, Perth (1995)","DOI":"10.1109\/ICNN.1995.488968"}],"container-title":["Lecture Notes in Computer Science","Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-96-0789-1_17","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,23]],"date-time":"2025-01-23T19:25:51Z","timestamp":1737660351000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-96-0789-1_17"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"ISBN":["9789819607884","9789819607891"],"references-count":19,"URL":"https:\/\/doi.org\/10.1007\/978-981-96-0789-1_17","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"24 January 2025","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIRA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Robotics and Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Xi'an","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"China","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2024","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"31 July 2024","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2 August 2024","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"17","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icira2024","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.icira2024.org","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}