{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:41:33Z","timestamp":1777714893680,"version":"3.51.4"},"reference-count":32,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1989,12,1]],"date-time":"1989-12-01T00:00:00Z","timestamp":628473600000},"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":[[1989,12]]},"abstract":"<jats:p>A general algorithm for the solution of the inverse kinematic problem of robotic manipulators in the presence of redundan cies is presented in this article. Redundancies are handled using a constrained nonlinear least-square minimization approach in which a positive definite performance index is minimized subject to the associated kinematic closure equa tions. The arising nonlinear problem is solved as a sequence of linear quadratic programs. The algorithm is aimed at providing an efficient and general solution that avoids the production of undesirable effects such as non-conservative joint motions. Numerical stability of the procedure is en hanced by use of the Newton-Gauss method. Examples are given using the six-axis PUMA and seven-axis CYBOTECH P-15, each performing a task for which five degrees of free dom are required to orient and position an axially-symmetric peg through a continuous path.<\/jats:p>","DOI":"10.1177\/027836498900800606","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"80-97","source":"Crossref","is-referenced-by-count":34,"title":["Kinematic Inversion of Robotic Manipulators in the Presence of Redundancies"],"prefix":"10.1177","volume":"8","author":[{"given":"Karen","family":"Anderson","sequence":"first","affiliation":[{"name":"ICAM Technologies Company Pointe Claire, Qu\u00e9bec, Canada H9R4Z3"}]},{"given":"Jorge","family":"Angeles","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering McGill University Montr\u00e9al, Qu\u00e9bec, Canada H9R423"}]}],"member":"179","published-online":{"date-parts":[[1989,12,1]]},"reference":[{"key":"atypb1","volume-title":"Inverse kinematics of robot manipulators in the presence of singularities and redundancies","author":"Anderson, K.","year":"1987"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-48819-1"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400203"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400405"},{"key":"atypb5","author":"Angeles, J.","year":"1988","journal-title":"Proc. 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