{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T22:08:50Z","timestamp":1779314930048,"version":"3.51.4"},"reference-count":35,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1991,8,1]],"date-time":"1991-08-01T00:00:00Z","timestamp":681004800000},"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":[[1991,8]]},"abstract":"<jats:p>This article presents new closed-loop schemes for solving the inverse kinematics of constrained redundant manipula tors. In order to exploit the space of redundancy, the end- effector task is suitably augmented by adding a constraint task. The success of the technique is guaranteed either by specifying the constraint task ad hoc or by resorting to a task priority strategy. Instead of previous inverse kinemat ics schemes that use the Jacobian pseudoinverse, the schemes in this work are shown to converge using the Jacobian transpose. A number of case studies illustrate different ways of solving redundancy in the context of the proposed schemes.<\/jats:p>","DOI":"10.1177\/027836499101000409","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"410-425","source":"Crossref","is-referenced-by-count":256,"title":["Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy"],"prefix":"10.1177","volume":"10","author":[{"given":"Pasquale","family":"Chiacchio","sequence":"first","affiliation":[{"name":"Dipartimento di Informatica e Sistemistica Universit\u00e0 degli Studi di Napoli \"Federico \" Via Claudio 21, 80125 Napoli, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefano","family":"Chiaverini","sequence":"additional","affiliation":[{"name":"Dipartimento di Informatica e Sistemistica Universit\u00e0 degli Studi di Napoli \"Federico \" Via Claudio 21, 80125 Napoli, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lorenzo","family":"Sciavicco","sequence":"additional","affiliation":[{"name":"Dipartimento di Informatica e Sistemistica Universit\u00e0 degli Studi di Napoli \"Federico \" Via Claudio 21, 80125 Napoli, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bruno","family":"Siciliano","sequence":"additional","affiliation":[{"name":"Dipartimento di Informatica e Sistemistica Universit\u00e0 degli Studi di Napoli \"Federico \" Via Claudio 21, 80125 Napoli, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,8,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the 1985 IEEE International Conference on Robotics and Automation","author":"Baillieul, J."},{"key":"atypb2","volume-title":"Proceedings of the 1986 IEEE International Conference on Robotics and Automation","author":"Baillieul, J."},{"key":"atypb3","volume-title":"Proceedings of the 1987 IEEE International Conference on Robotics and Automation","author":"Baillieul, J."},{"key":"atypb4","volume-title":"Proceedings of the 23rd IEEE Conference on Decision and Control","author":"Baillieul, J."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700201"},{"key":"atypb6","volume-title":"9th IFAC World Congress","author":"Balestrino, A."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087114"},{"key":"atypb8","volume-title":"Proceedings of the 1987 IEEE International Conference on Robotics and Automation","author":"Chiu, S.L."},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1981.1102785"},{"key":"atypb10","volume-title":"Proceedings of the 1988 IEEE International Conference on Robotics and Automation","author":"Das, H."},{"key":"atypb11","volume-title":"Proceedings of the 2nd International Conference on Advanced Robotics","author":"De Maria, G."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087118"},{"key":"atypb13","volume-title":"Proceedings of the 1985 IEEE International Conference on Robotics and Automation","author":"Hollerbach, J.M."},{"key":"atypb14","volume-title":"5th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators","author":"Kir\u00e9anski, M."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"atypb17","doi-asserted-by":"crossref","first-page":"868","DOI":"10.1109\/TSMC.1977.4309644","volume":"7","author":"Li\u00e9geois, A.","year":"1977","journal-title":"IEEE Trans. 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