{"id":"https://openalex.org/W2033686669","doi":"https://doi.org/10.1017/s026357470001016x","title":"Time-optimal Trajectories for Robot Manipulators","display_name":"Time-optimal Trajectories for Robot Manipulators","publication_year":1991,"publication_date":"1991-04-01","ids":{"openalex":"https://openalex.org/W2033686669","doi":"https://doi.org/10.1017/s026357470001016x","mag":"2033686669"},"language":"en","primary_location":{"id":"doi:10.1017/s026357470001016x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470001016x","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/A5091185859","display_name":"Gamini Dissanayake","orcid":"https://orcid.org/0000-0002-7992-0680"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"M. W. M. G. Dissanayake","raw_affiliation_strings":["Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia","Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I31746571"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia)","institution_ids":["https://openalex.org/I129604602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111807589","display_name":"C.J. Goh","orcid":"https://orcid.org/0009-0001-5156-5859"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"C. J. Goh","raw_affiliation_strings":["Department of Mathematics, University of Western Australia, Nedlands, WA 6009 (Australia","Department of Mathematics, University of Western Australia, Nedlands, WA 6009 (Australia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics, University of Western Australia, Nedlands, WA 6009 (Australia","institution_ids":["https://openalex.org/I177877127"]},{"raw_affiliation_string":"Department of Mathematics, University of Western Australia, Nedlands, WA 6009 (Australia)","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040929731","display_name":"N. Phan\u2010Thien","orcid":"https://orcid.org/0000-0003-3716-7907"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"N. Phan-Thien","raw_affiliation_strings":["Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia","Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I31746571"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Sydney, NSW 2006 (Australia)","institution_ids":["https://openalex.org/I129604602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3137,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.88123472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"9","issue":"2","first_page":"131","last_page":"138"},"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":0.9976000189781189,"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":0.9959999918937683,"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/robot","display_name":"Robot","score":0.7247728705406189},{"id":"https://openalex.org/keywords/workstation","display_name":"Workstation","score":0.6139400005340576},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6036238074302673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5719970464706421},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5358385443687439},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5038911700248718},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46025145053863525},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43858182430267334},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43354135751724243},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42285069823265076},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.41411516070365906},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3563537001609802},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35285115242004395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2720494866371155},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23961806297302246},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20957016944885254},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0650586485862732},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.05060645937919617}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7247728705406189},{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.6139400005340576},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6036238074302673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5719970464706421},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5358385443687439},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5038911700248718},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46025145053863525},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43858182430267334},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43354135751724243},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42285069823265076},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.41411516070365906},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3563537001609802},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35285115242004395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2720494866371155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23961806297302246},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20957016944885254},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0650586485862732},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.05060645937919617},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357470001016x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470001016x","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1580581796","https://openalex.org/W1582082225","https://openalex.org/W1582353822","https://openalex.org/W1600227127","https://openalex.org/W1963647070","https://openalex.org/W1967416910","https://openalex.org/W1970412155","https://openalex.org/W1978413780","https://openalex.org/W1985107381","https://openalex.org/W1995096430","https://openalex.org/W2066580154","https://openalex.org/W2087149139","https://openalex.org/W2109243489","https://openalex.org/W2115091574","https://openalex.org/W2153413894","https://openalex.org/W2155612543","https://openalex.org/W2569641373","https://openalex.org/W2610796673"],"related_works":["https://openalex.org/W93192945","https://openalex.org/W2538293904","https://openalex.org/W3044674998","https://openalex.org/W2108575589","https://openalex.org/W2139206564","https://openalex.org/W1505290414","https://openalex.org/W2605331264","https://openalex.org/W1929150788","https://openalex.org/W4388893656","https://openalex.org/W3197961851"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1,47],"computational":[2],"technique":[3,45],"for":[4,8,50],"obtaining":[5],"minimum-time":[6],"trajectories":[7,57],"robot":[9,38,70,75],"manipulators":[10,71],"is":[11,58,78],"described":[12],"in":[13,68,73],"this":[14],"paper.":[15],"In":[16],"the":[17,41,44,51,55],"analysis,":[18],"limitations":[19],"to":[20,24],"link":[21],"movements":[22],"due":[23],"design":[25],"constraints":[26],"are":[27],"taken":[28],"into":[29],"consideration.":[30],"Numerical":[31],"examples":[32],"based":[33],"on":[34],"a":[35],"two-link":[36],"planar":[37],"arm":[39],"shows":[40],"feasibility":[42],"of":[43,54,63],"proposed.":[46],"physical":[48],"explanation":[49],"general":[52],"characteristics":[53],"observed":[56],"also":[59],"presented.":[60],"The":[61],"importance":[62],"appreciating":[64],"optimal":[65],"control":[66],"issues":[67],"designing":[69],"and":[72],"planning":[74],"workstation":[76],"layouts":[77],"emphasised.":[79]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}