{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T02:54:01Z","timestamp":1778813641745,"version":"3.51.4"},"reference-count":24,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[1988,4,1]],"date-time":"1988-04-01T00:00:00Z","timestamp":575856000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1988,4]]},"abstract":"<jats:p>Many conventional nonredundant manipulators have singu lar configurations, near which some small motions of the end-effector require excessive and physically unrealizable joint speeds. Consequently, the usable workspace of the ma nipulator is effectively reduced. It has been proposed that high joint speeds could be avoided by introducing redundant joints and using an appropriate kinematic inversion algo rithm. For a very general class of kinematic inversion algo rithms, the theorems of this paper state some fundamental relations between the properties of the algorithm and its ability to resolve such problems. These results have practical implications in the design of controllers for redundant ma nipulators, especially when real-time sensory input is used to modify the manipulator's trajectory.<\/jats:p>","DOI":"10.1177\/027836498800700201","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"3-21","source":"Crossref","is-referenced-by-count":267,"title":["On the Inverse Kinematics of Redundant Manipulators"],"prefix":"10.1177","volume":"7","author":[{"given":"Daniel R.","family":"Baker","sequence":"first","affiliation":[{"name":"Mathematics Department General Motors Research Laboratories Warren, Michigan 48090"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"suffix":"II","given":"Charles W.","family":"Wampler","sequence":"additional","affiliation":[{"name":"Mathematics Department General Motors Research Laboratories Warren, Michigan 48090"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1988,4,1]]},"reference":[{"key":"atypb1","volume-title":"Proc. IEEE Int. Conf on Robotics and Automation","author":"Baillieul, J."},{"key":"atypb2","first-page":"782","volume":"3","author":"Bobrow, J.E.","year":"1983","journal-title":"Proc. Automatic Control Conf."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.2307\/1969728"},{"key":"atypb4","volume-title":"Unpublished lecture at IEEE Int. Conf. on Robotics and Automation","author":"Brockett, R.W."},{"key":"atypb5","first-page":"9","volume":"3","author":"Chang, P.H.","year":"1986","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation"},{"key":"atypb6","volume-title":"Topology","author":"Dugundji, J.","year":"1968"},{"key":"atypb7","first-page":"1689","volume":"3","author":"Gottlieb, D.H.","year":"1986","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation"},{"key":"atypb8","volume-title":"Optimum kinematic design for a seven degree of freedom manipulator","author":"Hollerbach, J.M.","year":"1985"},{"key":"atypb9","unstructured":"\u2014 The 2nd Intl. Symposium, eds. H. Hanafusa and H. Inoue, Cambridge, Mass.: MIT Press, pp. 215-222."},{"key":"atypb10","first-page":"1016","author":"Hollerbach, J.M.","year":"1985","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation"},{"key":"atypb11","volume-title":"Proc. 24th IEEE Conf. on Decision and Control","author":"Johnson, D.W."},{"key":"atypb12","first-page":"500","author":"Khatib, O.","year":"1985","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation"},{"key":"atypb13","unstructured":"Klein, C.A. 1985. Use of redundancy in the design of robotic systems. In Robotics Research \u2014 The 2nd Intl. Symposium, eds. H. Hanafusa and H. Inoue , Cambridge, Mass.: MIT Press , pp. 207-214."},{"key":"atypb14","first-page":"13","author":"Klein, C.A.","year":"1983","journal-title":"IEEE Trans. on Sys., Man, and Cybernetics"},{"key":"atypb15","first-page":"7","author":"Li\u00e9geois, A.","year":"1977","journal-title":"IEEE Trans. on Sys., Man, and Cybernetics SMC"},{"key":"atypb16","unstructured":"Nakamura, Y., and Hanafusa, H. 1985. Task priority based redundancy control of robot manipultors. Robotics Research \u2014 The 2nd Intl. Symposium , eds. H. Hanafusa and H. Inoue, Cambridge, Mass.: MIT Press, pp. 155-162."},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143764"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"atypb19","volume-title":"Algebraic Topology","author":"Spanier, E.","year":"1966"},{"key":"atypb20","first-page":"998","author":"Stani\u0161i\u00e9, M.M.","year":"1985","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1986.289285"},{"key":"atypb22","first-page":"610","volume":"2","author":"Wampler, C.W.","year":"1987","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation."},{"key":"atypb23","first-page":"10","author":"Whitney, D.E.","year":"1969","journal-title":"IEEE Trans. on Man-Machine Systems MMS"},{"key":"atypb24","unstructured":"Yoshikawa, T. 1985. Manipulability of robotic mechanisms. Robotics Research \u2014 The 2nd Intl. Symposium, eds. H. Hanafusa and H. Inoue, Cambridge, Mass.: MIT Press, pp. 439-446."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498800700201","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498800700201","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:08Z","timestamp":1777457888000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836498800700201"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1988,4]]},"references-count":24,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1988,4]]}},"alternative-id":["10.1177\/027836498800700201"],"URL":"https:\/\/doi.org\/10.1177\/027836498800700201","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1988,4]]}}}