{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:56:54Z","timestamp":1760245014686},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[1999,9,1]],"date-time":"1999-09-01T00:00:00Z","timestamp":936144000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1999,9]]},"abstract":"<jats:p>The constraints on the\nphysical limit should be considered in a kinematic redundancy resolution\nproblem of a robot. This paper proposes a new optimization scheme to\nresolve kinematic redundancy of the robot while considering physical\nconstraints. In the proposed scheme, quadratic inequality constraints\nare used in place of linear inequality constraints, thus a quadratically\nconstrained optimization technique is applied to resolve the redundancy.\nIt is shown that the use of quadratic inequality constraints\nconsiderably reduces the number of constraints. Therefore, the proposed\nmethod reduces the problem size considerably and makes the problem\nsimple resulting in computational efficiency. A numerical example of a\n4-link planar redundant robot is included to demonstrate the efficiency\nof the proposed optimization technique. In this example, simulation\nresults using the proposed method and another well-known method are\ncompared and discussed.<\/jats:p>","DOI":"10.1017\/s026357479900171x","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"503-511","source":"Crossref","is-referenced-by-count":8,"title":["Resolving kinematic redundancy of a robot using a\nquadratically constrained optimization technique"],"prefix":"10.1017","volume":"17","author":[{"given":"Woong","family":"Kwon","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Beom","family":"Hee Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Myoung","family":"Hwan Choi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[1999,9,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357479900171X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,9]],"date-time":"2019-05-09T20:23:55Z","timestamp":1557433435000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357479900171X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,9]]},"references-count":0,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1999,9]]}},"alternative-id":["S026357479900171X"],"URL":"https:\/\/doi.org\/10.1017\/s026357479900171x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1999,9]]}}}