Redundancy Parametrization in Globally-Optimal Inverse Kinematics View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2019

AUTHORS

Enrico Ferrentino , Pasquale Chiacchio

ABSTRACT

Redundancy resolution schemes based on the optimization of integral performance indices through calculus of variations do not provide a minimum parametrization of redundancy, i.e. the one with the minimum number of variables and differential equations, which is rather implicitly used in techniques based on dynamic programming. This communication investigates the possible minimum parametrizations and the conditions by which they become unrepresentative of the redundancy. Techniques are proposed to choose the right parametrization, depending on the manipulator kinematic characteristics and trajectory. While reducing the number of differential equations to be solved, they pave the way to the design of more effective redundancy resolution algorithms based on dynamic programming. More... »

PAGES

47-55

References to SciGraph publications

Book

TITLE

Advances in Robot Kinematics 2018

ISBN

978-3-319-93187-6
978-3-319-93188-3

Author Affiliations

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-319-93188-3_6

DOI

http://dx.doi.org/10.1007/978-3-319-93188-3_6

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1105067022


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0102", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Applied Mathematics", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/01", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Mathematical Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "University of Salerno", 
          "id": "https://www.grid.ac/institutes/grid.11780.3f", 
          "name": [
            "Universit\u00e0 degli Studi di Salerno"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Ferrentino", 
        "givenName": "Enrico", 
        "id": "sg:person.014212260076.23", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014212260076.23"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "University of Salerno", 
          "id": "https://www.grid.ac/institutes/grid.11780.3f", 
          "name": [
            "Universit\u00e0 degli Studi di Salerno"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Chiacchio", 
        "givenName": "Pasquale", 
        "id": "sg:person.013342637106.05", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013342637106.05"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "sg:pub.10.1007/978-3-319-32552-1", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1008314925", 
          "https://doi.org/10.1007/978-3-319-32552-1"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/027836498800700501", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1019683836"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/027836498800700501", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1019683836"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1002/rob.4620090404", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1020742162"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/027836498700600103", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1046132762"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/027836498700600103", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1046132762"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/027836499101000409", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1048978885"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1177/027836499101000409", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1048978885"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1017/s0263574700019044", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1053916750"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1017/s0263574700019044", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1053916750"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/70.88067", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061216824"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/tro.2010.2068650", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061785186"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/robot.2007.363176", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093375067"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2019", 
    "datePublishedReg": "2019-01-01", 
    "description": "Redundancy resolution schemes based on the optimization of integral performance indices through calculus of variations do not provide a minimum parametrization of redundancy, i.e. the one with the minimum number of variables and differential equations, which is rather implicitly used in techniques based on dynamic programming. This communication investigates the possible minimum parametrizations and the conditions by which they become unrepresentative of the redundancy. Techniques are proposed to choose the right parametrization, depending on the manipulator kinematic characteristics and trajectory. While reducing the number of differential equations to be solved, they pave the way to the design of more effective redundancy resolution algorithms based on dynamic programming.", 
    "editor": [
      {
        "familyName": "Lenarcic", 
        "givenName": "Jadran", 
        "type": "Person"
      }, 
      {
        "familyName": "Parenti-Castelli", 
        "givenName": "Vincenzo", 
        "type": "Person"
      }
    ], 
    "genre": "chapter", 
    "id": "sg:pub.10.1007/978-3-319-93188-3_6", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": {
      "isbn": [
        "978-3-319-93187-6", 
        "978-3-319-93188-3"
      ], 
      "name": "Advances in Robot Kinematics 2018", 
      "type": "Book"
    }, 
    "name": "Redundancy Parametrization in Globally-Optimal Inverse Kinematics", 
    "pagination": "47-55", 
    "productId": [
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/978-3-319-93188-3_6"
        ]
      }, 
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "8fbb5b5d6fa94b9268b41dc3331ecd71fbc73f4a25032527aeae65803dd8db86"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1105067022"
        ]
      }
    ], 
    "publisher": {
      "location": "Cham", 
      "name": "Springer International Publishing", 
      "type": "Organisation"
    }, 
    "sameAs": [
      "https://doi.org/10.1007/978-3-319-93188-3_6", 
      "https://app.dimensions.ai/details/publication/pub.1105067022"
    ], 
    "sdDataset": "chapters", 
    "sdDatePublished": "2019-04-15T15:39", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8672_00000429.jsonl", 
    "type": "Chapter", 
    "url": "http://link.springer.com/10.1007/978-3-319-93188-3_6"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-93188-3_6'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-93188-3_6'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-93188-3_6'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-93188-3_6'


 

This table displays all metadata directly associated to this object as RDF triples.

105 TRIPLES      23 PREDICATES      36 URIs      20 LITERALS      8 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/978-3-319-93188-3_6 schema:about anzsrc-for:01
2 anzsrc-for:0102
3 schema:author N3cf24f2e901b41fabfb7be674474ba76
4 schema:citation sg:pub.10.1007/978-3-319-32552-1
5 https://doi.org/10.1002/rob.4620090404
6 https://doi.org/10.1017/s0263574700019044
7 https://doi.org/10.1109/70.88067
8 https://doi.org/10.1109/robot.2007.363176
9 https://doi.org/10.1109/tro.2010.2068650
10 https://doi.org/10.1177/027836498700600103
11 https://doi.org/10.1177/027836498800700501
12 https://doi.org/10.1177/027836499101000409
13 schema:datePublished 2019
14 schema:datePublishedReg 2019-01-01
15 schema:description Redundancy resolution schemes based on the optimization of integral performance indices through calculus of variations do not provide a minimum parametrization of redundancy, i.e. the one with the minimum number of variables and differential equations, which is rather implicitly used in techniques based on dynamic programming. This communication investigates the possible minimum parametrizations and the conditions by which they become unrepresentative of the redundancy. Techniques are proposed to choose the right parametrization, depending on the manipulator kinematic characteristics and trajectory. While reducing the number of differential equations to be solved, they pave the way to the design of more effective redundancy resolution algorithms based on dynamic programming.
16 schema:editor N39522d27b85f4674b6ad782917ca79c2
17 schema:genre chapter
18 schema:inLanguage en
19 schema:isAccessibleForFree false
20 schema:isPartOf Nc81ded34a60d4c07a4643075b0c4decf
21 schema:name Redundancy Parametrization in Globally-Optimal Inverse Kinematics
22 schema:pagination 47-55
23 schema:productId N80d61b15a1c140e9b1a6624091e96410
24 N8c083ad08b86489b880df588e7515206
25 Nb93e15558b884b6bbcc2f824fb62bbe0
26 schema:publisher N3018af3983ba49abbd910d7375cf61d2
27 schema:sameAs https://app.dimensions.ai/details/publication/pub.1105067022
28 https://doi.org/10.1007/978-3-319-93188-3_6
29 schema:sdDatePublished 2019-04-15T15:39
30 schema:sdLicense https://scigraph.springernature.com/explorer/license/
31 schema:sdPublisher N64db1b9bed7a4cb6ac602cfb443a57e3
32 schema:url http://link.springer.com/10.1007/978-3-319-93188-3_6
33 sgo:license sg:explorer/license/
34 sgo:sdDataset chapters
35 rdf:type schema:Chapter
36 N0e297eabed864259a13a0ac6e2adca34 schema:familyName Lenarcic
37 schema:givenName Jadran
38 rdf:type schema:Person
39 N17271adbcaf74534b69536dd7185b963 schema:familyName Parenti-Castelli
40 schema:givenName Vincenzo
41 rdf:type schema:Person
42 N299aa20c7cf94c9ab368838b56dc6021 rdf:first sg:person.013342637106.05
43 rdf:rest rdf:nil
44 N3018af3983ba49abbd910d7375cf61d2 schema:location Cham
45 schema:name Springer International Publishing
46 rdf:type schema:Organisation
47 N39522d27b85f4674b6ad782917ca79c2 rdf:first N0e297eabed864259a13a0ac6e2adca34
48 rdf:rest N95843e3145744c7692d2638bed3c7502
49 N3cf24f2e901b41fabfb7be674474ba76 rdf:first sg:person.014212260076.23
50 rdf:rest N299aa20c7cf94c9ab368838b56dc6021
51 N64db1b9bed7a4cb6ac602cfb443a57e3 schema:name Springer Nature - SN SciGraph project
52 rdf:type schema:Organization
53 N80d61b15a1c140e9b1a6624091e96410 schema:name readcube_id
54 schema:value 8fbb5b5d6fa94b9268b41dc3331ecd71fbc73f4a25032527aeae65803dd8db86
55 rdf:type schema:PropertyValue
56 N8c083ad08b86489b880df588e7515206 schema:name dimensions_id
57 schema:value pub.1105067022
58 rdf:type schema:PropertyValue
59 N95843e3145744c7692d2638bed3c7502 rdf:first N17271adbcaf74534b69536dd7185b963
60 rdf:rest rdf:nil
61 Nb93e15558b884b6bbcc2f824fb62bbe0 schema:name doi
62 schema:value 10.1007/978-3-319-93188-3_6
63 rdf:type schema:PropertyValue
64 Nc81ded34a60d4c07a4643075b0c4decf schema:isbn 978-3-319-93187-6
65 978-3-319-93188-3
66 schema:name Advances in Robot Kinematics 2018
67 rdf:type schema:Book
68 anzsrc-for:01 schema:inDefinedTermSet anzsrc-for:
69 schema:name Mathematical Sciences
70 rdf:type schema:DefinedTerm
71 anzsrc-for:0102 schema:inDefinedTermSet anzsrc-for:
72 schema:name Applied Mathematics
73 rdf:type schema:DefinedTerm
74 sg:person.013342637106.05 schema:affiliation https://www.grid.ac/institutes/grid.11780.3f
75 schema:familyName Chiacchio
76 schema:givenName Pasquale
77 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013342637106.05
78 rdf:type schema:Person
79 sg:person.014212260076.23 schema:affiliation https://www.grid.ac/institutes/grid.11780.3f
80 schema:familyName Ferrentino
81 schema:givenName Enrico
82 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014212260076.23
83 rdf:type schema:Person
84 sg:pub.10.1007/978-3-319-32552-1 schema:sameAs https://app.dimensions.ai/details/publication/pub.1008314925
85 https://doi.org/10.1007/978-3-319-32552-1
86 rdf:type schema:CreativeWork
87 https://doi.org/10.1002/rob.4620090404 schema:sameAs https://app.dimensions.ai/details/publication/pub.1020742162
88 rdf:type schema:CreativeWork
89 https://doi.org/10.1017/s0263574700019044 schema:sameAs https://app.dimensions.ai/details/publication/pub.1053916750
90 rdf:type schema:CreativeWork
91 https://doi.org/10.1109/70.88067 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061216824
92 rdf:type schema:CreativeWork
93 https://doi.org/10.1109/robot.2007.363176 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093375067
94 rdf:type schema:CreativeWork
95 https://doi.org/10.1109/tro.2010.2068650 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061785186
96 rdf:type schema:CreativeWork
97 https://doi.org/10.1177/027836498700600103 schema:sameAs https://app.dimensions.ai/details/publication/pub.1046132762
98 rdf:type schema:CreativeWork
99 https://doi.org/10.1177/027836498800700501 schema:sameAs https://app.dimensions.ai/details/publication/pub.1019683836
100 rdf:type schema:CreativeWork
101 https://doi.org/10.1177/027836499101000409 schema:sameAs https://app.dimensions.ai/details/publication/pub.1048978885
102 rdf:type schema:CreativeWork
103 https://www.grid.ac/institutes/grid.11780.3f schema:alternateName University of Salerno
104 schema:name Università degli Studi di Salerno
105 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...