{"id":"https://openalex.org/W4244106912","doi":"https://doi.org/10.1109/robot.1997.619352","title":"Real-time failure-tolerant control of kinematically redundant manipulators","display_name":"Real-time failure-tolerant control of kinematically redundant manipulators","publication_year":2002,"publication_date":"2002-11-22","ids":{"openalex":"https://openalex.org/W4244106912","doi":"https://doi.org/10.1109/robot.1997.619352"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1997.619352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mountainscholar.org/bitstreams/f3bb865f-e4b3-4f85-97e1-0f8420abdafc/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071214709","display_name":"K.N. Groom","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"funder","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K.N. Groom","raw_affiliation_strings":["Purdue University, West Lafayette, IN, USA"],"affiliations":[{"raw_affiliation_string":"Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051692652","display_name":"A.A. Maciejewski","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"funder","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A.A. Maciejewski","raw_affiliation_strings":["Purdue University, West Lafayette, IN, USA"],"affiliations":[{"raw_affiliation_string":"Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043021842","display_name":"V. Balakrishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"funder","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"V. Balakrishnan","raw_affiliation_strings":["Purdue University, West Lafayette, IN, USA"],"affiliations":[{"raw_affiliation_string":"Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.666,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":9,"citation_normalized_percentile":{"value":0.833031,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":79,"max":80},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9849,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9849,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9184,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.8541033},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.7030253},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6573451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6474792},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6242573},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5287651},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27585343},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2443614},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.14413294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10915607},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1997.619352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://hdl.handle.net/10217/1220","pdf_url":"https://mountainscholar.org/bitstreams/f3bb865f-e4b3-4f85-97e1-0f8420abdafc/download","source":{"id":"https://openalex.org/S4306402292","display_name":"Digital Collections of Colorado (Colorado State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I92446798","host_organization_name":"Colorado State University","host_organization_lineage":["https://openalex.org/I92446798"],"host_organization_lineage_names":["Colorado State University"],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":true,"landing_page_url":"https://hdl.handle.net/10217/67359","pdf_url":"https://mountainscholar.org/bitstreams/41620c6e-cd0b-432e-9026-4df9fad520f4/download","source":{"id":"https://openalex.org/S4306402292","display_name":"Digital Collections of Colorado (Colorado State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I92446798","host_organization_name":"Colorado State University","host_organization_lineage":["https://openalex.org/I92446798"],"host_organization_lineage_names":["Colorado State University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.5.4697","pdf_url":"http://www.engr.colostate.edu/~aam/pdf/journals/31.pdf","source":{"id":"https://openalex.org/S4306400349","display_name":"CiteSeer X (The Pennsylvania State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I130769515","host_organization_name":"Pennsylvania State University","host_organization_lineage":["https://openalex.org/I130769515"],"host_organization_lineage_names":["Pennsylvania State University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://hdl.handle.net/10217/1220","pdf_url":"https://mountainscholar.org/bitstreams/f3bb865f-e4b3-4f85-97e1-0f8420abdafc/download","source":{"id":"https://openalex.org/S4306402292","display_name":"Digital Collections of Colorado (Colorado State University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I92446798","host_organization_name":"Colorado State University","host_organization_lineage":["https://openalex.org/I92446798"],"host_organization_lineage_names":["Colorado State University"],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"score":0.79,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":20,"referenced_works":["https://openalex.org/W1549194173","https://openalex.org/W1971311026","https://openalex.org/W2003025902","https://openalex.org/W2039367169","https://openalex.org/W2042538399","https://openalex.org/W2049410986","https://openalex.org/W2049617391","https://openalex.org/W2072705799","https://openalex.org/W2083860053","https://openalex.org/W2095636070","https://openalex.org/W2097628196","https://openalex.org/W2100790457","https://openalex.org/W2108839449","https://openalex.org/W2121431541","https://openalex.org/W2125150316","https://openalex.org/W2129341946","https://openalex.org/W2144082062","https://openalex.org/W2144629157","https://openalex.org/W2171298449","https://openalex.org/W2171907955"],"related_works":["https://openalex.org/W4360995134","https://openalex.org/W4323768008","https://openalex.org/W4255837520","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W3023605104","https://openalex.org/W2387529410","https://openalex.org/W2387011115","https://openalex.org/W2383578611","https://openalex.org/W2039473718"],"abstract_inverted_index":{"This":[0],"work":[1],"considers":[2],"real-time":[3,76],"fault-tolerant":[4],"control":[5],"of":[6,31,36,89,111,118],"kinematically":[7],"redundant":[8],"manipulators":[9],"with":[10,52,70],"single":[11,28],"locked-joint":[12],"failures.":[13],"The":[14,62],"fault-tolerance":[15,60,92],"measure":[16,93],"used":[17],"is":[18,46,73,114],"a":[19],"worst-case":[20,91],"quantity,":[21],"given":[22],"by":[23,82],"the":[24,32,37,44,53,59,90,109,112],"minimum,":[25],"over":[26],"all":[27,102],"joint":[29],"failures,":[30],"minimum":[33],"singular":[34],"value":[35],"post-failure":[38],"Jacobians.":[39],"Given":[40],"any":[41],"end-effector":[42],"trajectory,":[43],"goal":[45],"to":[47,65],"continuously":[48],"follow":[49],"this":[50,80],"trajectory":[51],"manipulator":[54],"in":[55],"configurations":[56,69],"that":[57,85,108,117],"maximize":[58],"measure.":[61],"computation":[63],"required":[64],"track":[66],"these":[67,103],"optimal":[68],"brute-force":[71,119],"methods":[72],"prohibitive":[74],"for":[75,101],"implementation.":[77],"We":[78],"address":[79],"issue":[81],"presenting":[83],"algorithms":[84],"quickly":[86],"compute":[87],"estimates":[88],"and":[94,105],"its":[95],"gradient.":[96],"Real-time":[97],"implementations":[98],"are":[99],"presented":[100],"techniques,":[104],"comparisons":[106],"show":[107],"performance":[110],"best":[113],"indistinguishable":[115],"from":[116],"implementations.":[120]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4244106912","counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-03-21T16:11:17.795081","created_date":"2022-05-12"}