{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T09:03:09Z","timestamp":1772787789365,"version":"3.50.1"},"reference-count":25,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1988,10,1]],"date-time":"1988-10-01T00:00:00Z","timestamp":591667200000},"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":[[1988,10]]},"abstract":"<jats:p> In redundancy resolution of robotic manipulators with more than the required degrees of freedom at the kinematic level, the minimization of the Euclidean norm of the joint velocities at the dynamic level, and the minimization of the kinetic energy of the manipulator at any moment of the task execu tion have long been suggested in the literature. In this paper the global optimization of the above characteristics are worked out by using integral-type criteria. The results are in surprisingly simple and elegant forms and give new insights to the redundancy resolution of robotic manipulators. The relations between local and global optimization are discussed. <\/jats:p>","DOI":"10.1177\/027836498800700501","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"3-12","source":"Crossref","is-referenced-by-count":157,"title":["Global versus Local Optimization in Redundancy Resolution of Robotic Manipulators"],"prefix":"10.1177","volume":"7","author":[{"given":"Kazem","family":"Kazerounian","sequence":"first","affiliation":[{"name":"Mechanical Engineering Department University of Connecticut Storrs, Connecticut 06268"}]},{"given":"Zhaoyu","family":"Wang","sequence":"additional","affiliation":[{"name":"Mechanical Engineering Department University of Connecticut Storrs, Connecticut 06268"}]}],"member":"179","published-online":{"date-parts":[[1988,10,1]]},"reference":[{"key":"atypb1","volume-title":"Proc. 1985 International Conference On Robotics And Automation","author":"Baillieul, J."},{"key":"atypb2","volume-title":"Proc. 23rd Conf on Decision and Control","author":"Baillieul, J."},{"key":"atypb3","volume-title":"Generalized inverses: theory and applications","author":"Ben-Israel, A.","year":"1980"},{"key":"atypb4","volume-title":"Lectures on the calculus of variations","author":"Bliss, A. 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Symp. of Robotics Research","author":"Klein, C.A."},{"key":"atypb14","volume-title":"Proc. 12th Int. Symp. on Industrial Robots","author":"Konstantinov, M."},{"key":"atypb15","volume-title":"IEEE Trans. Systems, Man, Cyber. SMC-7","author":"Liegeois, A."},{"key":"atypb16","volume-title":"IEEE Int. Conf. on Robotics and Automation","author":"Luh, J.Y.S."},{"key":"atypb17","unstructured":"Nakamura, Y., and Hanafusa, H. 1985. Task priority based redundancy control of robot manipulators . In Robotics research: the second international symposium , eds. H. Hanafusa and H. Inoue, Cambridge: MIT Press, pp. 155-162."},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600103"},{"key":"atypb19","volume-title":"Proc. of IEEE Int. Conf. on Robotics and Automation","author":"Suh, K.C."},{"key":"atypb20","volume-title":"Performance evaluation of manipulators using the Jacobian and its application to trajectory planning","author":"Uchiyama, M.","year":"1985"},{"key":"atypb21","volume-title":"IEEE Trans. Systems, Man, Cyber. SMC-14","author":"Vukobratovic, M."},{"key":"atypb22","volume-title":"Calculus of variations","author":"Weinstock, Robert.","year":"1952"},{"key":"atypb23","volume-title":"Trans. Man-Machine Systems. MMS-10","author":"Whitney, D.E."},{"key":"atypb24","author":"Whitney, D.E.","year":"1972","journal-title":"ASME J. Dynamic Systems, Measurements and Control"},{"key":"atypb25","unstructured":"Yoshikawa, T. 1984. Analysis and control of robotic manipulators with redundancy . In First Int. Symp. of Robotics Research, eds. Brady and Paul, Cambridge: MIT Press, pp. 735-748."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498800700501","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498800700501","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,28]],"date-time":"2025-01-28T09:12:25Z","timestamp":1738055545000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836498800700501"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1988,10]]},"references-count":25,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1988,10]]}},"alternative-id":["10.1177\/027836498800700501"],"URL":"https:\/\/doi.org\/10.1177\/027836498800700501","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1988,10]]}}}