{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:18:57Z","timestamp":1766067537849,"version":"3.37.3"},"reference-count":79,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Italian Workers\u2019 Compensation Authority","award":["CUP J32F17000950005"],"award-info":[{"award-number":["CUP J32F17000950005"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Sci. Eng."],"published-print":{"date-parts":[[2023,4]]},"DOI":"10.1109\/tase.2022.3183079","type":"journal-article","created":{"date-parts":[[2022,6,21]],"date-time":"2022-06-21T19:44:32Z","timestamp":1655840672000},"page":"1244-1261","source":"Crossref","is-referenced-by-count":3,"title":["On Perpendicular Curve-Based Task Space Trajectory Tracking Control With Incomplete Orientation Constraint"],"prefix":"10.1109","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9369-2928","authenticated-orcid":false,"given":"Gaofeng","family":"Li","sequence":"first","affiliation":[{"name":"Humanoids and Human Centered Mechatronics Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shan","family":"Xu","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dezhen","family":"Song","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, Texas A&#x0026;M University, College Station, TX, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fernando","family":"Caponetto","sequence":"additional","affiliation":[{"name":"Humanoids and Human Centered Mechatronics Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7591-4606","authenticated-orcid":false,"given":"Ioannis","family":"Sarakoglou","sequence":"additional","affiliation":[{"name":"Humanoids and Human Centered Mechatronics Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2645-5655","authenticated-orcid":false,"given":"Jingtai","family":"Liu","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9877-8237","authenticated-orcid":false,"given":"Nikos G.","family":"Tsagarakis","sequence":"additional","affiliation":[{"name":"Humanoids and Human Centered Mechatronics Research Line, Istituto Italiano Di Tecnologia (IIT), Genoa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"volume-title":"Introduction to Robotics: Mechanics and Control","year":"2009","author":"Craig","key":"ref1"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1201\/9781315136370"},{"issue":"2","key":"ref3","first-page":"43","article-title":"Finding reachable workspace of a robotic manipulator by edge detection algorithm","volume":"3","author":"Goyal","year":"2011","journal-title":"Int. J. Adv. Mechtron. Robot."},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.3329\/jme.v41i1.5359"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2006.06.005"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_10"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-09538-7"},{"volume-title":"Advanced Robotics: Redundancy and Optimization","year":"1991","author":"Nakamura","key":"ref8"},{"article-title":"Robotic joint-motion optimization of functionally-redundant tasks for joint-limits and singularity avoidance","year":"2009","author":"Huo","key":"ref9"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1108\/01439910810893626"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354030"},{"issue":"2","key":"ref12","first-page":"203","article-title":"Optimal pose solution based on space geometry method for ping-pong robot","volume":"36","author":"Wang","year":"2014","journal-title":"Robot"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2017.8247616"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-016-9684-z"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1139\/tcsme-2005-0045"},{"key":"ref16","first-page":"16","article-title":"A joint-limits avoidance strategy for arc-welding robots","volume-title":"Proc. Int. Conf. Integ. Design Manuf. Mech. Eng.","author":"Baron"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2018.07.003"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.cirp.2018.04.031"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2017.09.004"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.5772\/51101"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s11740-012-0362-1"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s11740-010-0283-9"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-016-8938-0"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2017.04.004"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1108\/IR-07-2014-0371"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/AMM.162.413"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2017.03.246"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.00687"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989288"},{"issue":"4","key":"ref30","first-page":"405","article-title":"Inverse kinematics solution of deformabel manipulator for point touching task","volume":"39","author":"Xu","year":"2017","journal-title":"Robot"},{"issue":"2","key":"ref31","first-page":"103","article-title":"Forward and inverse kinematic models for an articulated robotic manipulator","volume":"4","author":"Parhi","year":"2012","journal-title":"Int. J. Artif. Intell. Comput. Research."},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmachtools.2011.08.014"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1007\/s11633-005-0114-1"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593500"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-018-2868-y"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR.2016.7486703"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2014.7090480"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2871439"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR.2016.7486697"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2014.6878217"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.3724\/SPJ.1218.2012.00017"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363472"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/70.370511"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2016.7866587"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.3724\/SP.J.1218.2012.00211"},{"issue":"5","key":"ref46","first-page":"592","article-title":"An analytic and optimal inverse kinematic solution for a 7-DOF space manipulator","volume":"36","author":"Wang","year":"2014","journal-title":"Robot"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2003266"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/ICRAE.2017.8291368"},{"key":"ref49","first-page":"1","article-title":"Solving manipulator redanduncy with the augmented task space method using the constraint Jacobian transpose","volume-title":"Proc. IEEE Int. Conf. Robot. Autom.","volume":"5","author":"Siciliano"},{"key":"ref50","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1007\/978-1-4471-0449-0","volume-title":"Modelling and Control of Robot Manipulators","author":"Sciavicco","year":"2000"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2010.08.004"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2018.05.006"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2789845"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-56802-7_11"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2016.01.015"},{"key":"ref57","first-page":"1","article-title":"A redundancy-resolution algorithm for five-degree-of-freedom tasks via sequential quadratic programming","volume-title":"Proc. TRC-IFToMM Symp. Theory Mach. Mech.","author":"L\u00e9ger"},{"volume-title":"Robot Control: The Task Function Approach","year":"1991","author":"Samson","key":"ref58"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-20131-9_168"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.3390\/robotics8030068"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/COASE.2017.8256197"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/MESA.2018.8449155"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ICARM.2018.8610834"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2879683"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2893227"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2021.3073423"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-012-0601-0"},{"key":"ref68","first-page":"2435","article-title":"Rotation averaging and weak convexity","volume-title":"Proc. 19th Int. Symp. Mathe. Thoey Net. Syst.","author":"Hartley"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-12304-7_32"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2882183"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9744-3"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2015.2506663"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907576"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793540"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2657001"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792529"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7526135"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3021905"},{"key":"ref79","first-page":"15","article-title":"The fast research interface for the KUKA lightweight robot","volume-title":"Proc. IEEE ICRA Workshop Innov. Robot Control Archit. Demanding Res. Appl. How Modify Enhance Commercial Controllers","author":"Schreiber"}],"container-title":["IEEE Transactions on Automation Science and Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8856\/10094220\/09802904.pdf?arnumber=9802904","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T04:07:15Z","timestamp":1706760435000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9802904\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4]]},"references-count":79,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tase.2022.3183079","relation":{},"ISSN":["1545-5955","1558-3783"],"issn-type":[{"type":"print","value":"1545-5955"},{"type":"electronic","value":"1558-3783"}],"subject":[],"published":{"date-parts":[[2023,4]]}}}