{"id":"https://openalex.org/W2151245016","doi":"https://doi.org/10.1017/s0263574702004915","title":"Predictive joint motion limiting in robotic applications","display_name":"Predictive joint motion limiting in robotic applications","publication_year":2003,"publication_date":"2003-10-01","ids":{"openalex":"https://openalex.org/W2151245016","doi":"https://doi.org/10.1017/s0263574702004915","mag":"2151245016"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574702004915","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004915","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/A5038563085","display_name":"Edward Red","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Edward Red","raw_affiliation_strings":["Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA","Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA)","institution_ids":["https://openalex.org/I100005738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027194338","display_name":"Brian Fielding","orcid":null},"institutions":[{"id":"https://openalex.org/I100005738","display_name":"Brigham Young University","ror":"https://ror.org/047rhhm47","country_code":"US","type":"education","lineage":["https://openalex.org/I100005738"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Fielding","raw_affiliation_strings":["Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA","Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA)"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA","institution_ids":["https://openalex.org/I100005738"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Brigham Young University, 435 CTB, P.O. Box 24201, Provo, Utah84602\u20134201 (USA)","institution_ids":["https://openalex.org/I100005738"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5038563085"],"corresponding_institution_ids":["https://openalex.org/I100005738"],"apc_list":null,"apc_paid":null,"fwci":0.8178,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.80797475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"21","issue":"5","first_page":"531","last_page":"540"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9908999800682068,"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/acceleration","display_name":"Acceleration","score":0.7629876136779785},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6853339672088623},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5885381102561951},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5702965259552002},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5408459305763245},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5140188932418823},{"id":"https://openalex.org/keywords/speed-limit","display_name":"Speed limit","score":0.5134974122047424},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5098118185997009},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4608423709869385},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4148768484592438},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39504462480545044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3538846969604492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3455386161804199},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3306547999382019},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.225355327129364},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1906108856201172},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18828082084655762},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15665265917778015},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.15016579627990723},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08166807889938354}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7629876136779785},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6853339672088623},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5885381102561951},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5702965259552002},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5408459305763245},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5140188932418823},{"id":"https://openalex.org/C2780210587","wikidata":"https://www.wikidata.org/wiki/Q1077350","display_name":"Speed limit","level":2,"score":0.5134974122047424},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5098118185997009},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4608423709869385},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4148768484592438},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39504462480545044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3538846969604492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3455386161804199},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3306547999382019},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.225355327129364},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1906108856201172},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18828082084655762},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15665265917778015},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15016579627990723},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08166807889938354},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574702004915","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004915","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"},{"id":"pmh:oai:scholarsarchive.byu.edu:facpub-1472","is_oa":false,"landing_page_url":"https://scholarsarchive.byu.edu/facpub/473","pdf_url":null,"source":{"id":"https://openalex.org/S4377196308","display_name":"ScholarsArchive  (Brigham Young University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I100005738","host_organization_name":"Brigham Young University","host_organization_lineage":["https://openalex.org/I100005738"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1480648538","https://openalex.org/W1545188657","https://openalex.org/W1980732622","https://openalex.org/W2015003349","https://openalex.org/W2018655254","https://openalex.org/W2098862957","https://openalex.org/W2119403459","https://openalex.org/W2151245016","https://openalex.org/W2589793995","https://openalex.org/W3116867685"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W4252778923","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2391000165","https://openalex.org/W2801692647"],"abstract_inverted_index":{"Summary":[0],"Three":[1],"joint":[2,14,35,57,97,140],"space":[3,98],"algorithms":[4,26,69,103],"slow":[5],"the":[6,34,63,65,71,80,87,105,122,138],"Cartesian":[7,66,72,107],"path":[8],"motion":[9,15,36,58],"when":[10],"it":[11],"appears":[12],"that":[13,79],"is":[16,37,53,60],"approaching":[17],"a":[18,41,51,56,93,118],"joint,":[19],"speed,":[20,115],"or":[21,82,112],"acceleration":[22,101],"limit.":[23],"All":[24],"three":[25],"use":[27],"quadratic":[28],"curve":[29],"fitting":[30],"to":[31,44,90,92,109,124],"predict":[32],"where":[33],"heading,":[38],"followed":[39],"by":[40],"prediction":[42],"as":[43],"how":[45],"much":[46],"time":[47,89],"would":[48],"elapse":[49],"until":[50],"limit":[52,59],"reached.":[54],"If":[55],"encountered":[61],"in":[62],"time-to-stop":[64],"motion,":[67],"these":[68],"reduce":[70],"speed":[73,76,108],"using":[74],"pulsed":[75],"settings":[77],"so":[78],"robot":[81],"machine":[83],"tool":[84],"will":[85],"have":[86],"necessary":[88],"come":[91],"complete":[94],"stop.":[95],"The":[96],"velocity":[99,131],"and":[100,132],"control":[102],"set":[104],"override":[106],"either":[110],"full":[111],"some":[113],"reduced":[114],"several":[116],"times":[117],"second.":[119],"This":[120],"allows":[121],"joints":[123],"reach,":[125],"but":[126],"not":[127],"exceed,":[128],"their":[129],"maximum":[130],"accelerations":[133],"limit,":[134],"while":[135],"remaining":[136],"within":[137],"physical":[139],"limits.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}