{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T02:55:02Z","timestamp":1778813702814,"version":"3.51.4"},"reference-count":27,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2015,6,30]],"date-time":"2015-06-30T00:00:00Z","timestamp":1435622400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100005047","name":"Natural Science Foundation of Liaoning Province","doi-asserted-by":"crossref","award":["2013020007"],"award-info":[{"award-number":["2013020007"]}],"id":[{"id":"10.13039\/501100005047","id-type":"DOI","asserted-by":"crossref"}]},{"name":"the Program for Science and Technology Research in New Jinzhou District","award":["2013-GX1-015"],"award-info":[{"award-number":["2013-GX1-015"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2015,10]]},"DOI":"10.1007\/s11370-015-0180-3","type":"journal-article","created":{"date-parts":[[2015,6,29]],"date-time":"2015-06-29T17:26:30Z","timestamp":1435598790000},"page":"215-224","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":31,"title":["Practical analytical inverse kinematic approach for 7-DOF space manipulators with joint and attitude limits"],"prefix":"10.1007","volume":"8","author":[{"given":"Dongsheng","family":"Zhou","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lu","family":"Ji","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaopeng","family":"Wei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,6,30]]},"reference":[{"issue":"1","key":"180_CR1","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/s11370-010-0083-2","volume":"4","author":"K Nanos","year":"2011","unstructured":"Nanos K, Papadopoulos E (2011) On the use of free-floating space robots in the presence of angular momentum. Intell Serv Robot 4(1):3\u201315","journal-title":"Intell Serv Robot"},{"issue":"6","key":"180_CR2","doi-asserted-by":"crossref","first-page":"769","DOI":"10.1002\/rob.4620060607","volume":"6","author":"DN Nenchev","year":"1989","unstructured":"Nenchev DN (1989) Redundancy resolution through local optimization: a review. J Robot Syst 6(6):769\u2013798","journal-title":"J Robot Syst"},{"issue":"4","key":"180_CR3","doi-asserted-by":"crossref","first-page":"451","DOI":"10.1163\/156855308X294680","volume":"22","author":"W Xu","year":"2008","unstructured":"Xu W, Liu Y, Liang B, Xu Y, Li C, Qiang W (2008) Non-holonomic path planning of a free-floating space robotic system using genetic algorithms. Adv Robot 22(4):451\u2013476","journal-title":"Adv Robot"},{"key":"180_CR4","doi-asserted-by":"crossref","unstructured":"Lee S, Bejczy A (1991) Redundant arm kinematic control based on parameterization. In: IEEE international conference on robotics and automation. IEEE, Sacramento, California, pp 458\u2013465","DOI":"10.1109\/ROBOT.1991.131621"},{"key":"180_CR5","unstructured":"Dahm P, Joublin F (1997) Closed form solution for the inverse kinematics of a redundant robot arm. Inst. Neuroinf, Ruhr Univ. Bochum, 44780, Bochum, Germany, Internal Rep 97\u201308"},{"key":"180_CR6","doi-asserted-by":"crossref","unstructured":"Moradi H, Lee S (2005) Joint limit analysis and elbow movement minimization for redundant manipulators using closed form method. Advances in intelligent computing. Springer, Berlin, pp 423\u2013432","DOI":"10.1007\/11538356_44"},{"key":"180_CR7","doi-asserted-by":"crossref","unstructured":"Asfour T, Dillmann R (2003) Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem. In: Proceedings. 2003 IEEE\/RSJ international conference on intelligent robots and systems, 2003 (IROS 2003), vol 2. IEEE, pp 1407\u20131412","DOI":"10.1109\/IROS.2003.1248841"},{"key":"180_CR8","doi-asserted-by":"crossref","unstructured":"Shimizu M, Yoon W-K, Kitagaki K (2007) A practical redundancy resolution for 7 DOF redundant manipulators with joint limits. In: 2007 IEEE international conference on robotics and automation. IEEE, pp 4510\u20134516","DOI":"10.1109\/ROBOT.2007.364174"},{"issue":"5","key":"180_CR9","doi-asserted-by":"crossref","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 (2008) 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","journal-title":"IEEE Trans Robot"},{"issue":"5","key":"180_CR10","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1006\/gmod.2000.0528","volume":"62","author":"D Tolani","year":"2000","unstructured":"Tolani D, Goswami A, Badler NI (2000) Real-time inverse kinematics techniques for anthropomorphic limbs. Graph Models 62(5):353\u2013388","journal-title":"Graph Models"},{"key":"180_CR11","unstructured":"Singh GK, Claassens J (2010) An analytical solution for the inverse kinematics of a redundant 7DOF manipulator with link offsets. In: 2010 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 2976\u20132982"},{"key":"180_CR12","unstructured":"Xie J, Yan S, Qiang W (2006) A method for solving the inverse kinematics problem of 6-DOF space manipulator. In: 1st international symposium on systems and control in aerospace and astronautics 2006 (ISSCAA 2006). IEEE, Harbin, pp 379\u2013382"},{"issue":"1","key":"180_CR13","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1007\/s11370-009-0058-3","volume":"3","author":"I Kar","year":"2010","unstructured":"Kar I, Behera L (2010) Visual motor control of a 7 DOF robot manipulator using a fuzzy SOM network. Intell Serv Robot 3(1):49\u201360","journal-title":"Intell Serv Robot"},{"issue":"1","key":"180_CR14","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1139\/tcsme-2010-0007","volume":"34","author":"R Boudreau","year":"2010","unstructured":"Boudreau R, Podhorodeski RP (2010) Singularity analysis of a kinematically simple class of 7-jointed revolute manipulators. Trans Can Soc Mech Eng 34(1):105\u2013117","journal-title":"Trans Can Soc Mech Eng"},{"key":"180_CR15","unstructured":"Hollerbach JM (1985) Optimum kinematic design for a seven degree of freedom manipulator. In: Robotics research: the second international symposium. MIT Press, Cambridge, pp 215\u2013222"},{"key":"180_CR16","doi-asserted-by":"crossref","unstructured":"Tondu B (2006) A closed-form inverse kinematic modelling of a 7R anthropomorphic upper limb based on a joint parametrization. In: 6th IEEE-RAS international conference on humanoid robots. IEEE, Toulouse Cedex 4, pp 390\u2013397","DOI":"10.1109\/ICHR.2006.321302"},{"key":"180_CR17","doi-asserted-by":"crossref","unstructured":"Yu C, Jin M, Liu H (2012) An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist. In: International conference on mechatronics and automation (ICMA). IEEE, Harbin, pp 92\u201397","DOI":"10.1109\/ICMA.2012.6282813"},{"key":"180_CR18","unstructured":"Taki Y, Sugimoto K (2003) Classification of singular configurations for 7-DOF manipulators with kinematic redundancy. In: Proceedings of 6th Japan\u2013France congress on mechatronics and 4th Asia\u2013Europe congress on mechatronics, pp 438\u2013443"},{"key":"180_CR19","unstructured":"Park K-C, Chang P-H, Lee S (2002) A new kind of singularity in redundant manipulation: semi algorithmic singularity. In: IEEE international conference on robotics and automation 2002 (ICRA\u201902), vol 2. IEEE, Pittsburgh, pp 1979\u20131984"},{"issue":"1","key":"180_CR20","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1109\/70.127239","volume":"8","author":"JC Chou","year":"1992","unstructured":"Chou JC (1992) Quaternion kinematic and dynamic differential equations. IEEE Trans Robot Autom 8(1):53\u201364","journal-title":"IEEE Trans Robot Autom"},{"issue":"4","key":"180_CR21","doi-asserted-by":"crossref","first-page":"434","DOI":"10.1109\/56.809","volume":"4","author":"J Yuan","year":"1988","unstructured":"Yuan J (1988) Closed-loop manipulator control using quaternion feedback. IEEE J Robot Autom 4(4):434\u2013440","journal-title":"IEEE J Robot Autom"},{"key":"180_CR22","doi-asserted-by":"crossref","unstructured":"Chen G, Jia Q, Sun H, Zhang X (2010) Non-holonomic path planning of space robot based on Newton iteration. In: 2010 IEEE proceedings of the 8th world congress on intelligent control and automation, Jinan, China, Jul 6\u20139, pp 6534\u20136538","DOI":"10.1109\/WCICA.2010.5554168"},{"issue":"3","key":"180_CR23","doi-asserted-by":"crossref","first-page":"303","DOI":"10.1109\/70.34766","volume":"5","author":"Y Umetani","year":"1989","unstructured":"Umetani Y, Yoshida K (1989) Resolved motion rate control of space manipulators with generalized Jacobian matrix. IEEE Trans Robot Autom 5(3):303\u2013314","journal-title":"IEEE Trans Robot Autom"},{"key":"180_CR24","doi-asserted-by":"crossref","unstructured":"Huo X, Cheng Y, Wang Y, Hu Q (2011) PSO based trajectory planning of free floating space robot for minimizing spacecraft attitude disturbance. In: Control and decision conference (CCDC). IEEE, Mianyang, pp 819\u2013822","DOI":"10.1109\/CCDC.2011.5968295"},{"key":"180_CR25","doi-asserted-by":"crossref","unstructured":"Bae J-H, Park J-H, Oh Y, Kim D, Choi Y, Yang W (2015) Task space control considering passive muscle stiffness for redundant robotic arms. Intell Serv Robot 8(3):93\u2013104","DOI":"10.1007\/s11370-015-0165-2"},{"key":"180_CR26","doi-asserted-by":"crossref","unstructured":"Yoshida K (1999) The SpaceDyn: a MATLAB toolbox for space and mobile robots. In: Proceedings. 1999 IEEE\/RSJ international conference on intelligent robots and systems 1999 (IROS\u201999), vol 3. IEEE, pp 1633\u20131638","DOI":"10.1109\/IROS.1999.811712"},{"key":"180_CR27","unstructured":"Schweiger M ORBITER. http:\/\/orbit.medphys.ucl.ac.uk\/ . Accessed 08 May 2015"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-015-0180-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11370-015-0180-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-015-0180-3","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,27]],"date-time":"2019-08-27T16:31:25Z","timestamp":1566923485000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11370-015-0180-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,6,30]]},"references-count":27,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2015,10]]}},"alternative-id":["180"],"URL":"https:\/\/doi.org\/10.1007\/s11370-015-0180-3","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,6,30]]}}}