{"id":"https://openalex.org/W2997509737","doi":"https://doi.org/10.1016/j.ifacol.2019.12.415","title":"Acceleration-level trajectory planning for a dual-arm space robot","display_name":"Acceleration-level trajectory planning for a dual-arm space robot","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2997509737","doi":"https://doi.org/10.1016/j.ifacol.2019.12.415","mag":"2997509737"},"language":"en","primary_location":{"id":"doi:10.1016/j.ifacol.2019.12.415","doi":"https://doi.org/10.1016/j.ifacol.2019.12.415","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2019.12.415","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1016/j.ifacol.2019.12.415","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069463661","display_name":"Kedi Xie","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kedi Xie","raw_affiliation_strings":["Department of Automation, Xiamen University, Xiamen, Fujian, 361005 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Xiamen University, Xiamen, Fujian, 361005 China","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017219315","display_name":"Weiyao Lan","orcid":"https://orcid.org/0000-0002-0614-2259","observed_orcids":["https://orcid.org/0000-0002-0614-2259"]},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weiyao Lan","raw_affiliation_strings":["Department of Automation, Xiamen University, Xiamen, Fujian, 361005 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Xiamen University, Xiamen, Fujian, 361005 China","institution_ids":["https://openalex.org/I191208505"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5017219315"],"corresponding_institution_ids":["https://openalex.org/I191208505"],"apc_list":{"value":0,"currency":"USD","value_usd":0},"apc_paid":null,"fwci":1.3847,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.80956461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":"52","issue":"24","first_page":"243","last_page":"248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.5278000235557556,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.5278000235557556,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.4462999999523163,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.009999999776482582,"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":[{"id":"https://openalex.org/keywords/dual-arm-space-robot","display_name":"dual-arm space robot","score":0.9369999766349792},{"id":"https://openalex.org/keywords/momentum-conservation","display_name":"momentum conservation","score":0.8230000138282776},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"quadratic programming","score":0.8289999961853027},{"id":"https://openalex.org/keywords/levenberg-marquardt-algorithm","display_name":"Levenberg-Marquardt algorithm","score":0.8989999890327454}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8014215230941772},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.736137866973877},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7285974621772766},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6915168762207031},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6214733719825745},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4467700123786926},{"id":"https://openalex.org/C98943031","wikidata":"https://www.wikidata.org/wiki/Q10281355","display_name":"Trajectory of a projectile","level":3,"score":0.44347521662712097},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4412800669670105},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.43913209438323975},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4093067944049835},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35975155234336853},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.333065003156662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1792539656162262},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11936268210411072},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11372381448745728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10576114058494568},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09015685319900513},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.ifacol.2019.12.415","doi":"https://doi.org/10.1016/j.ifacol.2019.12.415","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2019.12.415","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.ifacol.2019.12.415","doi":"https://doi.org/10.1016/j.ifacol.2019.12.415","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.ifacol.2019.12.415","pdf_url":null,"source":{"id":"https://openalex.org/S2898405271","display_name":"IFAC-PapersOnLine","issn_l":"2405-8963","issn":["2405-8963","2405-8971"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1","norway-1","poland-20","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IFAC-PapersOnLine","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W636927631","https://openalex.org/W1616363572","https://openalex.org/W1916221159","https://openalex.org/W1965619116","https://openalex.org/W1980061339","https://openalex.org/W1980795221","https://openalex.org/W1993262167","https://openalex.org/W2003593395","https://openalex.org/W2033004902","https://openalex.org/W2037841262","https://openalex.org/W2039968635","https://openalex.org/W2047240746","https://openalex.org/W2063471227","https://openalex.org/W2080641008","https://openalex.org/W2081496171","https://openalex.org/W2153202134","https://openalex.org/W2159644044","https://openalex.org/W2211505722","https://openalex.org/W2234803980","https://openalex.org/W2333720576","https://openalex.org/W2584014062","https://openalex.org/W2619127597","https://openalex.org/W2755963366","https://openalex.org/W2884486007","https://openalex.org/W3145446862","https://openalex.org/W3148792966","https://openalex.org/W4250011251","https://openalex.org/W6639849866"],"related_works":["https://openalex.org/W2969554145","https://openalex.org/W2164144510","https://openalex.org/W4402569752","https://openalex.org/W4415047793","https://openalex.org/W4405746964","https://openalex.org/W3192032388","https://openalex.org/W2327457202","https://openalex.org/W4206041376","https://openalex.org/W2802330325","https://openalex.org/W4408664491"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,75,89,100],"achieve":[3],"disturbance":[4,104],"rejection":[5],"of":[6,112],"the":[7,11,38,46,59,81,94,102,110,113],"base":[8,103],"while":[9],"realizing":[10],"pre-capturing":[12],"process":[13],"under":[14],"joint":[15,60],"physical":[16,61],"constraints":[17,62],"(such":[18],"as":[19,65],"limited":[20],"joint-angle,":[21],"joint-velocity,":[22],"joint-acceleration),":[23],"this":[24,57],"paper":[25],"proposed":[26,114],"an":[27],"acceleration-level":[28,39,115],"trajectory":[29,91,116],"planning":[30,92,117],"method":[31,86],"for":[32,93],"a":[33,66,76],"dual-arm":[34],"space":[35],"robot.":[36],"Firstly,":[37],"kinematic":[40],"models":[41],"are":[42,63],"derived":[43],"by":[44],"using":[45],"velocity-level":[47],"kinematics":[48],"and":[49,51],"linear":[50],"angular":[52],"momentum":[53],"conservation":[54],"law.":[55],"On":[56],"basis,":[58],"reformulated":[64],"quadratic":[67],"programming":[68],"(QP)":[69],"problem":[70],"which":[71,97],"can":[72],"be":[73],"converted":[74],"piecewise-linear":[77],"projection":[78],"equation.":[79],"Meanwhile,":[80],"improved":[82],"damped":[83],"least-squares":[84],"(DLS)":[85],"is":[87,98],"applied":[88],"design":[90],"balance":[95],"arm":[96],"employed":[99],"keep":[101],"free.":[105],"Finally,":[106],"simulation":[107],"results":[108],"verify":[109],"effectiveness":[111],"method.":[118]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2020-01-10T00:00:00"}
