{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:54:29Z","timestamp":1754157269865,"version":"3.41.2"},"reference-count":22,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2008,10,17]],"date-time":"2008-10-17T00:00:00Z","timestamp":1224201600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2008,10,17]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to examine a new idea of vibration control which minimizes joint\u2010torques and suppresses vibration of the flexible redundant manipulator.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>Using the kinematics redundancy feature of the flexible redundant manipulator, the self\u2010motion in the joint space can be properly chosen to both suppress vibration and minimize joint\u2010torques.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The study shows that the flexible redundant manipulator still has the second optimization feature on the premise of vibration suppression. The second optimization feature can be used to minimize joint\u2010torques on the premise of vibration suppression.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>To a flexible redundant manipulator, its joint\u2010torques and vibration can be reduced simultaneously via its kinematics redundancy feature.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The method and algorithm discussed in the paper can be used to minimize joint\u2010torques and suppress vibration for the flexible redundant manipulator.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The paper contributes to the study on improving dynamic performance of the flexible redundant manipulator via its kinematics redundancy feature. The second optimization capability of the flexible redundant manipulator is discovered and used to both minimize joint\u2010torques and suppress vibration.<\/jats:p><\/jats:sec>","DOI":"10.1108\/17563780810919168","type":"journal-article","created":{"date-parts":[[2008,11,22]],"date-time":"2008-11-22T07:07:42Z","timestamp":1227337662000},"page":"634-645","source":"Crossref","is-referenced-by-count":1,"title":["Minimizing joint\u2010torques of the flexible redundant manipulator on the premise of vibration suppression"],"prefix":"10.1108","volume":"1","author":[{"given":"Zhihui","family":"Gao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Yun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yushu","family":"Bian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"unstructured":"Benosman, M. and Le Vey, G. 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