{"id":"https://openalex.org/W2118812575","doi":"https://doi.org/10.1017/s026357470000391x","title":"Admissible trajectory determination for two cooperating robot arms","display_name":"Admissible trajectory determination for two cooperating robot arms","publication_year":1988,"publication_date":"1988-04-01","ids":{"openalex":"https://openalex.org/W2118812575","doi":"https://doi.org/10.1017/s026357470000391x","mag":"2118812575"},"language":"en","primary_location":{"id":"doi:10.1017/s026357470000391x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470000391x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5109179588","display_name":"Joonhong Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joonhong Lim","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 (U.S.A","Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 U.S.A"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 (U.S.A","institution_ids":["https://openalex.org/I126307644"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 U.S.A","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108635193","display_name":"D.H. Chyung","orcid":null},"institutions":[{"id":"https://openalex.org/I126307644","display_name":"University of Iowa","ror":"https://ror.org/036jqmy94","country_code":"US","type":"education","lineage":["https://openalex.org/I126307644"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dong H. Chyung","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 (U.S.A","Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 U.S.A"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 (U.S.A","institution_ids":["https://openalex.org/I126307644"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242 U.S.A","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5109179588"],"corresponding_institution_ids":["https://openalex.org/I126307644"],"apc_list":null,"apc_paid":null,"fwci":0.7316,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.75196762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":"2","first_page":"107","last_page":"113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7088770270347595},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6916429996490479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6416710615158081},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6356348991394043},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5837051272392273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5490206480026245},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5342399477958679},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.48886770009994507},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4818193018436432},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4671418368816376},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.44910264015197754},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4388126730918884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4264984130859375},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42063677310943604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4200335741043091},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.340890496969223},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3067448139190674},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2332315444946289},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.13107183575630188},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08407235145568848},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06509038805961609}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7088770270347595},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6916429996490479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6416710615158081},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6356348991394043},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5837051272392273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5490206480026245},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5342399477958679},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.48886770009994507},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4818193018436432},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4671418368816376},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.44910264015197754},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4388126730918884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4264984130859375},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42063677310943604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4200335741043091},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.340890496969223},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3067448139190674},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2332315444946289},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.13107183575630188},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08407235145568848},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06509038805961609},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357470000391x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470000391x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W650001879","https://openalex.org/W1582353822","https://openalex.org/W1833535863","https://openalex.org/W1998457139","https://openalex.org/W2048593888","https://openalex.org/W2052859046","https://openalex.org/W2071609006","https://openalex.org/W3142300713","https://openalex.org/W6662641688"],"related_works":["https://openalex.org/W2607470227","https://openalex.org/W1508899372","https://openalex.org/W1995243476","https://openalex.org/W4300013288","https://openalex.org/W2731862817","https://openalex.org/W3101253900","https://openalex.org/W2347892399","https://openalex.org/W2133687134","https://openalex.org/W3038596169","https://openalex.org/W345637666"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,16,40,74,100,110,131],"problem":[2,85,90,102],"of":[3,56,96],"finding":[4],"an":[5,21],"allowable":[6],"object":[7,22,61],"trajectory":[8],"for":[9,125],"a":[10,87,108,138],"cooperating":[11],"two-robot":[12],"system":[13],"is":[14,18,43,80,103],"investigated.":[15],"purpose":[17],"to":[19,26,72,137],"move":[20],"from":[23],"one":[24],"point":[25],"another":[27],"by":[28,45],"firmly":[29],"grasping":[30],"it":[31],"at":[32],"two":[33,37],"different":[34],"points":[35],"using":[36],"robotic":[38],"hands.":[39],"major":[41],"difficulty":[42],"caused":[44],"the":[46,50,58,60,78,84,97,114,123,127],"fact":[47],"that,":[48],"unless":[49],"robots":[51],"have":[52],"true":[53],"six":[54],"degrees":[55],"freedom,":[57],"trajectories":[59,118],"can":[62],"follow":[63],"are":[64,70],"severely":[65],"limited":[66],"and,":[67],"in":[68,77,94],"general,":[69],"difficult":[71],"find.":[73],"method":[75,132],"proposed":[76],"paper":[79],"based":[81],"on":[82,107],"reformulating":[83],"as":[86,119],"nonlinear":[88],"optimization":[89,101],"with":[91],"equality":[92],"constraints":[93],"terms":[95],"joint":[98,116],"variables.":[99],"then":[104],"solved":[105],"numerically":[106],"computer.":[109],"solution":[111],"automatically":[112],"gives":[113],"corresponding":[115],"variable":[117],"well,":[120],"thus":[121],"eliminating":[122],"need":[124],"solving":[126],"inverse":[128],"kinematic":[129],"problem.":[130],"has":[133],"been":[134],"successfully":[135],"applied":[136],"real":[139],"experimental":[140],"system.":[141]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}