{"id":"https://openalex.org/W4409690255","doi":"https://doi.org/10.1007/s10846-025-02246-z","title":"A Path Planning Method Based on Optimal Arm Angle of 7-Degrees-of-Freedom Manipulator","display_name":"A Path Planning Method Based on Optimal Arm Angle of 7-Degrees-of-Freedom Manipulator","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4409690255","doi":"https://doi.org/10.1007/s10846-025-02246-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02246-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02246-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02246-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02246-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100418956","display_name":"Zhang Li","orcid":"https://orcid.org/0000-0002-0440-7014"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhang","raw_affiliation_strings":["Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078593508","display_name":"Bing Han","orcid":"https://orcid.org/0000-0002-2260-3836"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Han","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, 310030, China","Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, 310030, China","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025278092","display_name":"Jianwei Niu","orcid":"https://orcid.org/0000-0002-9392-9796"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Niu","raw_affiliation_strings":["State Key Laboratory of Virtual Reality Technology and Systems, School of Computer Science and Engineering, Beihang University, Beijing, 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Virtual Reality Technology and Systems, School of Computer Science and Engineering, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021198918","display_name":"Kun Tong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Tong","raw_affiliation_strings":["Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009083090","display_name":"Xinyang Tian","orcid":"https://orcid.org/0000-0002-7094-394X"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyang Tian","raw_affiliation_strings":["Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100524719","display_name":"Xiaolong Yu","orcid":"https://orcid.org/0000-0003-2879-6912"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaolong Yu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China"],"raw_orcid":"https://orcid.org/0000-0003-2879-6912","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, 100191, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054319853","display_name":"Renluan Hou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renluan Hou","raw_affiliation_strings":["Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100525969","display_name":"Yuliang Guo","orcid":"https://orcid.org/0009-0008-7982-5350"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuliang Guo","raw_affiliation_strings":["Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang Industrial Big Data And Robot Intelligent System Key Laboratory, Hangzhou Innovation Institute, Beihang University, Hangzhou, 310052, China","institution_ids":["https://openalex.org/I4210123185"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100524719"],"corresponding_institution_ids":["https://openalex.org/I4210123185","https://openalex.org/I82880672"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":3.5702,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.9234978,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"111","issue":"2","first_page":null,"last_page":null},"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":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/manipulator","display_name":"Manipulator (device)","score":0.7132982015609741},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6957530379295349},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5780913829803467},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5706692337989807},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5203958749771118},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4965210556983948},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48467662930488586},{"id":"https://openalex.org/keywords/long-arm","display_name":"Long arm","score":0.4782939553260803},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4581974148750305},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4204225242137909},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2497357428073883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14460325241088867},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13986575603485107},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08241492509841919},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.05508780479431152}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.7132982015609741},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6957530379295349},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5780913829803467},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5706692337989807},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5203958749771118},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4965210556983948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48467662930488586},{"id":"https://openalex.org/C3020253223","wikidata":"https://www.wikidata.org/wiki/Q7748172","display_name":"Long arm","level":4,"score":0.4782939553260803},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4581974148750305},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4204225242137909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2497357428073883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14460325241088867},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13986575603485107},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08241492509841919},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.05508780479431152},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C30481170","wikidata":"https://www.wikidata.org/wiki/Q37748","display_name":"Chromosome","level":3,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-025-02246-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02246-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02246-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02246-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02246-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02246-z.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6299999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4409690255.pdf","grobid_xml":"https://content.openalex.org/works/W4409690255.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1963915683","https://openalex.org/W1969844031","https://openalex.org/W1972048784","https://openalex.org/W2042803738","https://openalex.org/W2064431765","https://openalex.org/W2068994059","https://openalex.org/W2073501934","https://openalex.org/W2076643824","https://openalex.org/W2079534663","https://openalex.org/W2110395933","https://openalex.org/W2117758942","https://openalex.org/W2164589602","https://openalex.org/W2318396874","https://openalex.org/W2556538716","https://openalex.org/W2767708052","https://openalex.org/W2811039944","https://openalex.org/W2884373840","https://openalex.org/W2897001613","https://openalex.org/W2910577105","https://openalex.org/W2914527663","https://openalex.org/W2973603741","https://openalex.org/W2980792410","https://openalex.org/W3107603356","https://openalex.org/W3136382657","https://openalex.org/W3212826513","https://openalex.org/W4200116509","https://openalex.org/W4315866343","https://openalex.org/W4384406171","https://openalex.org/W4392542206","https://openalex.org/W4403481699"],"related_works":["https://openalex.org/W2589382532","https://openalex.org/W2494658518","https://openalex.org/W4234825356","https://openalex.org/W2695075568","https://openalex.org/W4361186078","https://openalex.org/W2331363374","https://openalex.org/W2749682525","https://openalex.org/W2125082648","https://openalex.org/W2159353126","https://openalex.org/W4401027239"],"abstract_inverted_index":{"This":[0],"paper":[1],"aims":[2],"to":[3,58,87,142],"address":[4],"the":[5,10,35,41,50,76,81,89,95,105,109,119,125,130,146,155,158],"issue":[6],"of":[7,21,38,40,52,108,124,157],"explicitly":[8],"utilizing":[9],"joint":[11,53,106,121],"limit":[12],"avoidance,":[13,15],"singularity":[14],"and":[16,49,55,116,133,166],"self-motion":[17,96],"obstacle":[18,97],"avoidance":[19,98],"properties":[20],"a":[22,29],"7-degrees-of-freedom":[23],"manipulator":[24,42,126],"during":[25],"path":[26,152],"planning,":[27],"given":[28],"cartesian":[30,77],"space":[31,61,78,84],"task":[32,79,113],"path.":[33],"First,":[34],"redundant":[36],"degree":[37],"freedom":[39],"is":[43,62,85,127,140,161],"represented":[44],"using":[45],"arm":[46,59,82,91,101,148],"angle":[47,60,83,92,102,122],"parameterization,":[48],"mapping":[51],"limits":[54],"singular":[56],"configurations":[57],"derived":[63],"in":[64,66],"detail,":[65],"conjunction":[67],"with":[68],"analytical":[69],"inverse":[70],"kinematics":[71],"solution.":[72],"Next,":[73],"based":[74],"on":[75],"path,":[80],"discretized":[86],"obtain":[88],"feasible":[90],"range":[93],"under":[94],"condition.":[99],"The":[100],"values":[103],"determine":[104],"angles":[107,149],"manipulator.":[110],"To":[111],"minimize":[112],"execution":[114],"time":[115],"improve":[117],"efficiency,":[118],"total":[120],"displacement":[123],"set":[128],"as":[129],"optimization":[131,138],"objective,":[132],"an":[134],"improved":[135],"particle":[136],"swarm":[137],"algorithm":[139],"employed":[141],"iteratively":[143],"search":[144],"for":[145],"optimal":[147],"at":[150],"each":[151],"point.":[153],"Finally,":[154],"effectiveness":[156],"proposed":[159],"method":[160],"validated":[162],"through":[163],"both":[164],"simulation":[165],"real":[167],"machine":[168],"experiments.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}
