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This new type is based on the combination of minimum weighted velocity norm (MWVN) and INAM criteria, and thus is called the MWVN\u2013INAM\u2013BCM scheme. In formulating such a scheme, joint-angle, joint-velocity, and joint-acceleration limits are incorporated. The proposed MWVN\u2013INAM\u2013BCM scheme is reformulated as a quadratic programming problem solved at the joint-acceleration level. Simulation results based on the PUMA560 robot manipulator validate the efficacy and applicability of the proposed MWVN\u2013INAM\u2013BCM scheme in robotic redundancy resolution. In addition, the physical realizability of the proposed scheme is verified in practical application based on a six-link planar robot manipulator.<\/jats:p>","DOI":"10.1017\/s0263574717000625","type":"journal-article","created":{"date-parts":[[2018,1,11]],"date-time":"2018-01-11T07:00:41Z","timestamp":1515654041000},"page":"655-675","source":"Crossref","is-referenced-by-count":23,"title":["Bi-criteria minimization with MWVN\u2013INAM type for motion planning and control of redundant robot manipulators"],"prefix":"10.1017","volume":"36","author":[{"given":"Dongsheng","family":"Guo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kene","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bolin","family":"Liao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,1,11]]},"reference":[{"key":"S0263574717000625_ref46","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1251"},{"key":"S0263574717000625_ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2014.2351416"},{"key":"S0263574717000625_ref42","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2016.0220"},{"key":"S0263574717000625_ref34","doi-asserted-by":"crossref","unstructured":"Y. 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