{"id":"https://openalex.org/W2057831640","doi":"https://doi.org/10.1002/rob.4620070103","title":"An efficient local approach for the path generation of robot manipulators","display_name":"An efficient local approach for the path generation of robot manipulators","publication_year":1990,"publication_date":"1990-02-01","ids":{"openalex":"https://openalex.org/W2057831640","doi":"https://doi.org/10.1002/rob.4620070103","mag":"2057831640"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620070103","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070103","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086091625","display_name":"Ren\u00e9 V. Mayorga","orcid":"https://orcid.org/0000-0001-8365-6571"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"R. V. Mayorga","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","Department of Systems Design Engineering, University of Waterloo Waterloo, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051841038","display_name":"Andrew K. C. Wong","orcid":"https://orcid.org/0000-0002-0019-7152"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"A. K. C. Wong","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","Department of Systems Design Engineering, University of Waterloo Waterloo, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066903534","display_name":"C. S. Karthik","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"K. S. Ma","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","Department of Systems Design Engineering, University of Waterloo Waterloo, Ontario, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo Waterloo, Ontario, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086091625"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":null,"apc_paid":null,"fwci":4.9377,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.94994995,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":"1","first_page":"23","last_page":"55"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9916999936103821,"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/control-theory","display_name":"Control theory (sociology)","score":0.616020143032074},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6138249039649963},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6008062958717346},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5904764533042908},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5544214844703674},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.5496757626533508},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5476199984550476},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5465294718742371},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48146358132362366},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.46920245885849},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.45379483699798584},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4363846778869629},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4179993271827698},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41323503851890564},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3524864614009857},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31428009271621704},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24240487813949585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23991495370864868},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12864473462104797},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1033620834350586}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.616020143032074},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6138249039649963},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6008062958717346},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5904764533042908},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5544214844703674},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.5496757626533508},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5476199984550476},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5465294718742371},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48146358132362366},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.46920245885849},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.45379483699798584},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4363846778869629},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4179993271827698},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41323503851890564},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3524864614009857},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31428009271621704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24240487813949585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23991495370864868},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12864473462104797},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1033620834350586},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620070103","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070103","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1966080303","https://openalex.org/W1980936883","https://openalex.org/W1982442957","https://openalex.org/W1990777642","https://openalex.org/W2024625612","https://openalex.org/W2038533008","https://openalex.org/W2090179465","https://openalex.org/W2100476631","https://openalex.org/W2109464322","https://openalex.org/W2114000612","https://openalex.org/W2116424796","https://openalex.org/W2116937526","https://openalex.org/W2131286638","https://openalex.org/W2135622428","https://openalex.org/W2143527619","https://openalex.org/W2144230201","https://openalex.org/W2144629157","https://openalex.org/W2153247018","https://openalex.org/W2154404773","https://openalex.org/W2163683727","https://openalex.org/W2167562539","https://openalex.org/W3168095073","https://openalex.org/W4236415656","https://openalex.org/W4241018115","https://openalex.org/W4253284464","https://openalex.org/W6683906303"],"related_works":["https://openalex.org/W4245687327","https://openalex.org/W2112549839","https://openalex.org/W2905483137","https://openalex.org/W3034896902","https://openalex.org/W3207307312","https://openalex.org/W2282634062","https://openalex.org/W4385775167","https://openalex.org/W129350306","https://openalex.org/W2072289333","https://openalex.org/W4223602307"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2,53],"article":[3],"an":[4],"efficient":[5],"local":[6],"approach":[7,18,120],"for":[8,124],"the":[9,44,63,85,88,97,118],"path":[10],"generation":[11],"of":[12,35,87],"robot":[13,39,45],"manipulators":[14,131],"is":[15,19,30,59,121,132],"presented.":[16],"The":[17],"based":[20],"on":[21],"formulating":[22],"a":[23,33,48,55,93,105,114,136],"simple":[24],"nonlinear":[25],"programming":[26],"problem.":[27],"This":[28],"problem":[29],"considered":[31],"as":[32],"minimization":[34],"energy":[36],"with":[37],"given":[38,115],"kinematics":[40],"and":[41,47,71,75],"subject":[42],"to":[43,67,129],"requirements":[46],"singularities":[49,70],"avoidance":[50,73],"constraint.":[51],"From":[52],"formulation":[54],"closed":[56],"form":[57],"solution":[58],"derived":[60],"which":[61],"has":[62],"properties":[64,83],"that":[65,76,91],"allows":[66],"pursue":[68],"both":[69],"obstacle":[72],"simultaneously;":[74],"it":[77],"can":[78,100,109],"incorporate":[79],"global":[80],"information.":[81],"These":[82],"enable":[84],"accomplishment":[86],"important":[89],"task":[90],"while":[92],"specified":[94],"trajectory":[95],"in":[96],"operational":[98],"space":[99],"be":[101,110],"closely":[102],"followed,":[103],"also":[104],"desired":[106],"joint":[107],"configuration":[108],"attained":[111],"accurately":[112],"at":[113],"time.":[116],"Although":[117],"proposed":[119],"primarily":[122],"developed":[123],"redundant":[125],"manipulators,":[126],"its":[127],"application":[128],"nonredundant":[130],"examplified":[133],"by":[134],"considering":[135],"particular":[137],"commercial":[138],"manipulator.":[139]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
