{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T15:22:34Z","timestamp":1784906554389,"version":"3.55.0"},"reference-count":32,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[1987,8,1]],"date-time":"1987-08-01T00:00:00Z","timestamp":554774400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE J. Robot. Automat."],"published-print":{"date-parts":[[1987,8]]},"DOI":"10.1109\/jra.1987.1087111","type":"journal-article","created":{"date-parts":[[2009,1,20]],"date-time":"2009-01-20T20:03:32Z","timestamp":1232481812000},"page":"308-316","source":"Crossref","is-referenced-by-count":457,"title":["Redundancy resolution of manipulators through torque optimization"],"prefix":"10.1109","volume":"3","author":[{"given":"J.","family":"Hollerbach","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"family":"Ki Suh","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971811"},{"key":"ref31","first-page":"137","author":"strang","year":"1980","journal-title":"Linear Algebra and its Applications"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087285"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"key":"ref12","first-page":"868","article-title":"Automatic supervisory control of the configuration and behavior of multibody mechanisms","volume":"smc 7","author":"liegeois","year":"1977","journal-title":"IEEE Trans Syst Man Cybern"},{"key":"ref13","first-page":"735","article-title":"Analysis and control of robot manipulators with redundancy","author":"yoshikawa","year":"1984","journal-title":"Robotics Research The First International Symposium"},{"key":"ref14","first-page":"207","article-title":"Use of redundancy in the design of robotic systems","author":"klein","year":"1985","journal-title":"Robotics Research The Second International Symposium"},{"key":"ref15","first-page":"xiv-78","article-title":"Analysis and control of articulated robot arms with redundancy","author":"hanafusa","year":"1981","journal-title":"Prep 8th IF AC World Congress"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087234"},{"key":"ref19","first-page":"561","article-title":"Kinematic control of redundant manipulators","author":"konstantinov","year":"1981","journal-title":"Proc 11th Int Symp on Industrial Robots"},{"key":"ref28","first-page":"263","article-title":"The operational space formulation in the analysis, design, and control of robot manipulators","author":"khatib","year":"1986","journal-title":"Robotics Research The Third International Symposium"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"ref27","first-page":"273","article-title":"Analysis and design of articulated robot arms from, the viewpoint of dynamic manipulability","author":"yoshikawa","year":"1986","journal-title":"Robotics Research The Third International Symposium"},{"key":"ref3","first-page":"187","article-title":"Evaluation of redundant manipulators derived from the PUMA Geometry","volume":"15","author":"hollerbach","year":"1985","journal-title":"ASME Winter Annual Meeting Robotics and Manufacturing Automation"},{"key":"ref6","author":"nakamura","year":"1985","journal-title":"Kinematical Studies on the Trajectory Control of Robot Manipulators"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1984.272110"},{"key":"ref5","first-page":"261","article-title":"The design of an articulated manipulator with torque control ability","author":"takase","year":"1974","journal-title":"Proc 9th Int Symp on Industrial Robotics"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258707"},{"key":"ref7","first-page":"175","article-title":"Motion control for a sheep shearing robot","author":"trevelyan","year":"1984","journal-title":"Robotics Research The First International Symposium"},{"key":"ref2","first-page":"215","article-title":"Optimum kinematic design for a seven degree of freedom manipulator","author":"hollerbach","year":"1985","journal-title":"Robotics Research The Second International Symposium"},{"key":"ref9","author":"ben-israel","year":"1980","journal-title":"Generalized Inverses Theory and Applications"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"ref20","first-page":"447","article-title":"Performance evaluation of manipulators using the Jacobian and its application to trajectory planning","author":"uchiyama","year":"1985","journal-title":"Robotics Research The Second International Symposium"},{"key":"ref22","author":"khatib","year":"1980","journal-title":"Commande dynamique dans l'espace op\ufffdrationnel des robots manipulateurs en pr\ufffdsence d'obstacles"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600201"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149652"},{"key":"ref23","first-page":"1123","article-title":"Dynamic control of manipulators in operational space","author":"khatib","year":"1983","journal-title":"Proc 6th IFToMM Congr Theory Machines Mechan"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087277"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1984.6313329"}],"container-title":["IEEE Journal on Robotics and Automation"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/56\/23638\/01087111.pdf?arnumber=1087111","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,29]],"date-time":"2021-11-29T20:26:33Z","timestamp":1638217593000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/1087111\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,8]]},"references-count":32,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/jra.1987.1087111","relation":{},"ISSN":["0882-4967"],"issn-type":[{"value":"0882-4967","type":"print"}],"subject":[],"published":{"date-parts":[[1987,8]]}}}