{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:06:00Z","timestamp":1739077560604,"version":"3.37.0"},"reference-count":20,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5852,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1993,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>For a kinematically redundant manipulator, some performance indices can be optimized while carrying out a given task. So far, the redundancy resolution has been solved at the joint angle level, the joint velocity level, or joint acceleration level depending on the performance indices. According to the resolution level, the solution is represented by high-order differential equations or superfluous number of equations. We propose a unified approach to the inverse kinematic solution which optimizes it at the joint velocity level regardless of the types of the performance indices. A unified approach to obtain an optimal joint velocity is derived by using the necessary condition for optimality so that the proposed method provides an optimal solution for any performance indices and tasks. The optimal solution becomes a set of the minimum number of first-order differential equations which requires a minimum search dimension.To show the validity of the approach, it is applied to a three-link planar manipulator for various types of performance indices.<\/jats:p>","DOI":"10.1017\/s0263574700019263","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:16:24Z","timestamp":1236690984000},"page":"159-165","source":"Crossref","is-referenced-by-count":3,"title":["A unified approach to the inverse kinematic solution for a redundant manipulator"],"prefix":"10.1017","volume":"11","author":[{"given":"J. H.","family":"Won","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B. W.","family":"Choi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. J.","family":"Chung","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700019263_ref020","unstructured":"20. Choi B.W. , Won J.H. and Chung M.J. , A study on the optimal redundancy resolution of a kinematically redundant manipulator Korean Automatic Control Conf. (Oct. Seoul, Korea) 1145\u20131149 (1990)."},{"key":"S0263574700019263_ref015","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700501"},{"key":"S0263574700019263_ref014","unstructured":"14. Suh K.C. and Hollerbach J.M. , Local versus global torque optimization of redundant manipulators. Proc. of IEEE Int. Conf. on Robotics and Automation (Raleigh. N.C.) 619\u2013624 (1987)."},{"key":"S0263574700019263_ref011","doi-asserted-by":"crossref","unstructured":"11. Chang P.H. , A closed-form solution for the control of manipulators with kinematic redundancy Proc. of IEEE Int. Conf. on Robotics and Automation (San Francisco, CA, Apr. 7\u201310 1986) 9\u201314.","DOI":"10.1109\/ROBOT.1986.1087725"},{"key":"S0263574700019263_ref004","first-page":"735","volume-title":"Robotics Research: the First Int. Symp.","author":"Yoshikawa","year":"1984"},{"key":"S0263574700019263_ref002","first-page":"868","article-title":"Automatic supervisory control of the configuration and behavior of multibody mechanisms","volume":"SMC-7","author":"Li\u00e9geois","year":"1977","journal-title":"IEEE Trans. Systems. Man, Cyber"},{"key":"S0263574700019263_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/56.804"},{"volume-title":"Numerical Recipes in C","year":"1988","author":"Vetterlinkg","key":"S0263574700019263_ref019"},{"volume-title":"Optimal Control Theory","year":"1970","author":"Kirk","key":"S0263574700019263_ref017"},{"key":"S0263574700019263_ref001","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"S0263574700019263_ref010","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800606"},{"key":"S0263574700019263_ref003","first-page":"78","volume-title":"Prepr. 8th Triennial IFAC World Congress","volume":"XIV","author":"Hanafusa","year":"1981"},{"key":"S0263574700019263_ref008","doi-asserted-by":"crossref","unstructured":"8. Baillieul J. , Kinematic programming alternatives for redundant manipulators Proc. of IEEE Int. Conf. on Robotics and Automation (March, St. Louis) 722\u2013728 (1985).","DOI":"10.1109\/ROBOT.1985.1087234"},{"key":"S0263574700019263_ref013","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600103"},{"key":"S0263574700019263_ref006","doi-asserted-by":"crossref","unstructured":"6. Dubey R.V. , Euler J.A. and Badcock S.M. , An efficient gradient projection optimization scheme for a seven-degree of freedom redundant robot with spherical wrist Proc. of IEEE Int. Conf. on Robotics and Automation 28\u201336 (1988).","DOI":"10.1109\/ROBOT.1988.12019"},{"key":"S0263574700019263_ref016","doi-asserted-by":"publisher","DOI":"10.1109\/70.88067"},{"key":"S0263574700019263_ref005","doi-asserted-by":"crossref","unstructured":"5. Dubey R.V. and Luh J.Y.S. , Redundant robot control for higher flexibility. Proc. of IEEE Int. Conf. on Robotics and Automation 1066\u20131072 (1987).","DOI":"10.1109\/ROBOT.1987.1087918"},{"volume-title":"Generalized Inverses: theory and applications","year":"1980","author":"Ben-Israel","key":"S0263574700019263_ref018"},{"key":"S0263574700019263_ref012","first-page":"446","volume-title":"Robotics Research: the Second Int. Symp.","author":"Uchiyama","year":"1985"},{"key":"S0263574700019263_ref007","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700019263","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:55:12Z","timestamp":1738990512000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700019263\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,3]]},"references-count":20,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1993,3]]}},"alternative-id":["S0263574700019263"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700019263","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1993,3]]}}}