{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T22:43:11Z","timestamp":1772750591754,"version":"3.50.1"},"reference-count":33,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2018,3,1]],"date-time":"2018-03-01T00:00:00Z","timestamp":1519862400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"}],"funder":[{"DOI":"10.13039\/501100001871","name":"Foundation for Science and Technology","doi-asserted-by":"publisher","award":["SFRH\/BD\/86499\/2012"],"award-info":[{"award-number":["SFRH\/BD\/86499\/2012"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Mechanism and Machine Theory"],"published-print":{"date-parts":[[2018,3]]},"DOI":"10.1016\/j.mechmachtheory.2017.10.025","type":"journal-article","created":{"date-parts":[[2017,11,7]],"date-time":"2017-11-07T07:01:46Z","timestamp":1510038106000},"page":"317-334","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":97,"special_numbering":"C","title":["Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance"],"prefix":"10.1016","volume":"121","author":[{"given":"Carlos","family":"Faria","sequence":"first","affiliation":[]},{"given":"Flora","family":"Ferreira","sequence":"additional","affiliation":[]},{"given":"Wolfram","family":"Erlhagen","sequence":"additional","affiliation":[]},{"given":"S\u00e9rgio","family":"Monteiro","sequence":"additional","affiliation":[]},{"given":"Estela","family":"Bicho","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0001","series-title":"Technical Report","article-title":"Optimum kinematic design for a seven degree of freedom manipulator","author":"Hollerbach","year":"1985"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0002","first-page":"255\u2014-262","article-title":"Global regularization of inverse kinematics for redundant manipulators","volume":"5","author":"DeMers","year":"1993","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0003","series-title":"Neural Networks in Robotics","first-page":"3","article-title":"Learning Global Topological Properties of Robot Kinematic Mappings for Neural Network-based Configuration Control","author":"DeMers","year":"1993"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0004","series-title":"International Conference on Robotics and Automation","first-page":"264","article-title":"On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds","author":"Burdick","year":"1989"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0005","series-title":"International Conference on Robotics and Automation","first-page":"626","article-title":"Self-motion topology for redundant manipulators with joint limits","author":"Luck","year":"1993"},{"issue":"5","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0006","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1177\/027836499201100504","article-title":"Kinematic analysis of 7-DoF manipulators","volume":"11","author":"Kreutz-Delgado","year":"1992","journal-title":"Int. J. Rob. Res."},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0007","series-title":"IEEE International Conference on Humanoid Robots, Genoa","first-page":"390","article-title":"A closed-form inverse kinematic modelling of a 7R anthropomorphic upper limb based on a joint parametrization","author":"Tondu","year":"2006"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0008","series-title":"IEEE International Conference on Advanced Intelligent Mechatronics, Besan\u00e7on","first-page":"1325","article-title":"Analytical inverse kinematic solution with self-motion constraint for the 7-DoF restore robot arm","author":"An","year":"2014"},{"issue":"4","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0009","doi-asserted-by":"crossref","first-page":"472","DOI":"10.1109\/70.88062","article-title":"Configuration control of redundant manipulators: theory and implementation","volume":"5","author":"Seraji","year":"1989","journal-title":"IEEE Trans. Rob. Autom."},{"issue":"3","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0010","doi-asserted-by":"crossref","first-page":"398","DOI":"10.1109\/70.585902","article-title":"Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators","volume":"13","author":"Chiaverini","year":"1997","journal-title":"IEEE Trans. Rob. Autom."},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0011","series-title":"IEEE International Conference on Systems, Man, and Cybernetics (SMC), San Diego","first-page":"3744","article-title":"Analytical inverse kinematics of a class of redundant manipulator based on dual arm-angle parameterization","author":"Yan","year":"2014"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0012","series-title":"2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","first-page":"3607","article-title":"Singularity-consistent kinematic redundancy resolution for the S-R-S manipulator","volume":"4","author":"Nenchev","year":"2004"},{"issue":"2","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0013","doi-asserted-by":"crossref","first-page":"286","DOI":"10.1109\/70.370511","article-title":"A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators","volume":"11","author":"Chan","year":"1995","journal-title":"IEEE Trans. Rob. Autom."},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0014","series-title":"International Conference on Robotics and Automation, Albuquerque","first-page":"2421","article-title":"Joint configuration conservation and joint limit avoidance of redundant manipulators","volume":"3","author":"Zhou","year":"1997"},{"issue":"3","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0015","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1177\/027836499501400304","article-title":"Strategies for increasing the tracking region of an eye-in-Hand system by singularity and joint limit avoidance","volume":"14","author":"Nelson","year":"1995","journal-title":"Int. J. Rob. Res."},{"issue":"6","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0016","doi-asserted-by":"crossref","first-page":"721","DOI":"10.1002\/rob.4620060605","article-title":"Obstacle avoidance for redundant robots using configuration control","volume":"6","author":"Colbaugh","year":"1989","journal-title":"J. Rob. Syst."},{"issue":"2","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0017","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1177\/027836498700600201","article-title":"Task-priority based redundancy control of robot manipulators","volume":"6","author":"Nakamura","year":"1987","journal-title":"Int. J. Rob. Res."},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0018","series-title":"International Conference on Robotics and Automation, Raleigh","first-page":"619","article-title":"Local versus global torque optimization of redundant manipulators","volume":"4","author":"Suh","year":"1987"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0019","series-title":"International Conference on Robotics and Automation","first-page":"1004","article-title":"Manipulability and redundancy control of robotic mechanisms","volume":"2","author":"Yoshikawa","year":"1985"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0020","series-title":"IEEE International Conference on Intelligent Robots and Systems, Las Vegas","first-page":"1407","article-title":"Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem","volume":"2","author":"Asfour","year":"2003"},{"issue":"S1","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0021","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1007\/s10846-015-0212-4","article-title":"Predicting redundancy of a 7 DoF upper limb exoskeleton toward improved transparency between human and robot","volume":"80","author":"Kim","year":"2015","journal-title":"J. Intell. Rob. Syst."},{"issue":"3","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0022","doi-asserted-by":"crossref","first-page":"163","DOI":"10.1115\/1.3143764","article-title":"Inverse kinematic solutions with singularity robustness for robot manipulator control","volume":"108","author":"Nakamura","year":"1986","journal-title":"J. Dyn. Syst. Measurement Control"},{"issue":"5","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0023","doi-asserted-by":"crossref","first-page":"393","DOI":"10.1109\/JRA.1987.1087114","article-title":"A closed-form solution for inverse kinematics of robot manipulators with redundancy","volume":"3","author":"Chang","year":"1987","journal-title":"IEEE J. Rob. Autom."},{"issue":"5","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0024","doi-asserted-by":"crossref","first-page":"353","DOI":"10.1006\/gmod.2000.0528","article-title":"Real-Time inverse kinematics techniques for anthropomorphic limbs","volume":"62","author":"Tolani","year":"2000","journal-title":"Graph. Models"},{"issue":"5","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0025","doi-asserted-by":"crossref","first-page":"1131","DOI":"10.1109\/TRO.2008.2003266","article-title":"Analytical inverse kinematic computation for 7-DoF redundant manipulators with joint limits and its application to redundancy resolution","volume":"24","author":"Shimizu","year":"2008","journal-title":"IEEE Trans. Rob."},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0026","series-title":"International Conference on Robotics and Automation","first-page":"458","article-title":"Redundant arm kinematic control based on parameterization","author":"Lee","year":"1991"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0027","unstructured":"P. Dahm, F. Joublin, Closed form solution for the inverse kinematics of a redundant robot arm, 1997."},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0028","series-title":"IEEE International Conference on Control, Automation and Robotics, Hong Kong","first-page":"49","article-title":"Robust inverse kinematics by configuration control for redundant manipulators with seven DoF","author":"Kuhlemann","year":"2016"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0029","series-title":"International Conference on Intelligent Computing","first-page":"423","article-title":"Joint Limit Analysis and Elbow Movement Minimization for Redundant Manipulators Using Closed Form Method","author":"Moradi","year":"2005"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0030","series-title":"International Conference on Intelligent Robots and Systems, Taipei","first-page":"2976","article-title":"An analytical solution for the inverse kinematics of a redundant 7DoF Manipulator with link offsets","author":"Singh","year":"2010"},{"key":"10.1016\/j.mechmachtheory.2017.10.025_bib0031","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1109\/RBME.2015.2428305","article-title":"Review of robotic technology for stereotactic neurosurgery","volume":"8","author":"Faria","year":"2015","journal-title":"IEEE Rev. Biomed. Eng."},{"issue":"February 2016","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0032","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1016\/j.mechmachtheory.2016.09.019","article-title":"Serial vs. quasi-serial manipulators: comparison analysis of elasto-static behaviors","volume":"107","author":"Klimchik","year":"2017","journal-title":"Mech. Mach. Theory"},{"issue":"October 2015","key":"10.1016\/j.mechmachtheory.2017.10.025_bib0033","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1016\/j.rcim.2016.12.005","article-title":"Efficiency evaluation of robots in machining applications using industrial performance measure","volume":"48","author":"Klimchik","year":"2017","journal-title":"Rob. Comput. Integ. Manuf."}],"container-title":["Mechanism and Machine Theory"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0094114X17306559?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0094114X17306559?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2018,9,24]],"date-time":"2018-09-24T17:28:26Z","timestamp":1537810106000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0094114X17306559"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,3]]},"references-count":33,"alternative-id":["S0094114X17306559"],"URL":"https:\/\/doi.org\/10.1016\/j.mechmachtheory.2017.10.025","relation":{},"ISSN":["0094-114X"],"issn-type":[{"value":"0094-114X","type":"print"}],"subject":[],"published":{"date-parts":[[2018,3]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance","name":"articletitle","label":"Article Title"},{"value":"Mechanism and Machine Theory","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.mechmachtheory.2017.10.025","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2017 Elsevier Ltd. All rights reserved.","name":"copyright","label":"Copyright"}]}}