{"id":"https://openalex.org/W2898672902","doi":"https://doi.org/10.1017/s0263574718001169","title":"Smooth point-to-point trajectory planning for robot manipulators by using radial basis functions","display_name":"Smooth point-to-point trajectory planning for robot manipulators by using radial basis functions","publication_year":2018,"publication_date":"2018-10-31","ids":{"openalex":"https://openalex.org/W2898672902","doi":"https://doi.org/10.1017/s0263574718001169","mag":"2898672902"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574718001169","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718001169","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/A5015871364","display_name":"Taha Chettibi","orcid":"https://orcid.org/0000-0001-9097-851X"},"institutions":[{"id":"https://openalex.org/I2802493600","display_name":"Polytechnic School of Algiers","ror":"https://ror.org/05t0zwy08","country_code":"DZ","type":"education","lineage":["https://openalex.org/I2802493600"]}],"countries":["DZ"],"is_corresponding":true,"raw_author_name":"Taha Chettibi","raw_affiliation_strings":["Laboratoire M\u00e9canique des Structures, U.E.R.M.A., E.M.P., Bordj El Bahri, Algiers 16111, Algeria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire M\u00e9canique des Structures, U.E.R.M.A., E.M.P., Bordj El Bahri, Algiers 16111, Algeria","institution_ids":["https://openalex.org/I2802493600"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5015871364"],"corresponding_institution_ids":["https://openalex.org/I2802493600"],"apc_list":null,"apc_paid":null,"fwci":2.3739,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.89512692,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"37","issue":"3","first_page":"539","last_page":"559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980000257492065,"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":0.9980000257492065,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9656000137329102,"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/radial-basis-function","display_name":"Radial basis function","score":0.6479942202568054},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5870051980018616},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.5512753129005432},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49085503816604614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4794161021709442},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4680217206478119},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46470963954925537},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4636911153793335},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.44380876421928406},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4133964478969574},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.4100542962551117},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38323187828063965},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36879944801330566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32192137837409973},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.12860620021820068},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09881466627120972}],"concepts":[{"id":"https://openalex.org/C98856871","wikidata":"https://www.wikidata.org/wiki/Q1588488","display_name":"Radial basis function","level":3,"score":0.6479942202568054},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5870051980018616},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.5512753129005432},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49085503816604614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4794161021709442},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4680217206478119},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46470963954925537},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4636911153793335},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.44380876421928406},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4133964478969574},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.4100542962551117},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38323187828063965},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36879944801330566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32192137837409973},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.12860620021820068},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09881466627120972},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574718001169","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718001169","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","score":0.7699999809265137,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1597405158","https://openalex.org/W1926428750","https://openalex.org/W1967911984","https://openalex.org/W1972146550","https://openalex.org/W1972321468","https://openalex.org/W1977174110","https://openalex.org/W1985249384","https://openalex.org/W1994843712","https://openalex.org/W2025939589","https://openalex.org/W2038029577","https://openalex.org/W2047121664","https://openalex.org/W2048463407","https://openalex.org/W2053957850","https://openalex.org/W2061883622","https://openalex.org/W2062691475","https://openalex.org/W2068190491","https://openalex.org/W2076048129","https://openalex.org/W2078576877","https://openalex.org/W2079074593","https://openalex.org/W2086897591","https://openalex.org/W2095769364","https://openalex.org/W2096521809","https://openalex.org/W2107989735","https://openalex.org/W2115280043","https://openalex.org/W2126105956","https://openalex.org/W2128353179","https://openalex.org/W2153926709","https://openalex.org/W2157087522","https://openalex.org/W2160514056","https://openalex.org/W2162870748","https://openalex.org/W2225813005","https://openalex.org/W2473797434","https://openalex.org/W2514078773","https://openalex.org/W2537770964","https://openalex.org/W2599302519","https://openalex.org/W2622659545","https://openalex.org/W2768566548","https://openalex.org/W3004157836","https://openalex.org/W4251512373","https://openalex.org/W6735626608"],"related_works":["https://openalex.org/W152605265","https://openalex.org/W1794182708","https://openalex.org/W3032945520","https://openalex.org/W1580808788","https://openalex.org/W2303144358","https://openalex.org/W4390682411","https://openalex.org/W1992087623","https://openalex.org/W1976454866","https://openalex.org/W394801925","https://openalex.org/W1844997853"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,62],"paper":[2],"introduces":[3],"the":[4,32,48,57,77,83,109,112],"use":[5],"of":[6,102,111],"radial":[7],"basis":[8],"functions":[9],"(RBFs)":[10],"to":[11,119],"generate":[12,120],"smooth":[13,127],"point-to-point":[14],"joint":[15],"trajectories":[16,64,121],"for":[17,82],"robot":[18,87],"manipulators.":[19],"First,":[20],"Gaussian":[21],"RBF":[22,59],"interpolation":[23,60],"is":[24,35,54,80],"introduced":[25],"taking":[26],"into":[27],"account":[28],"boundary":[29],"conditions.":[30],"Then,":[31],"proposed":[33,58,78,113],"approach":[34],"compared":[36,67,99],"with":[37,68,100,122],"classical":[38],"planning":[39,50,104],"techniques":[40],"based":[41],"on":[42],"polynomial":[43],"and":[44,73,93,96,126],"trigonometric":[45,74],"models.":[46],"Also,":[47],"trajectory":[49],"problem":[51],"involving":[52],"via-points":[53],"solved":[55],"using":[56,71],"technique.":[61],"obtained":[63],"are":[65,98],"then":[66],"those":[69,101],"synthesized":[70],"algebraic":[72],"splines.":[75],"Finally,":[76],"method":[79],"tested":[81],"six-joint":[84],"PUMA":[85],"560":[86],"in":[88],"two":[89],"cases":[90],"(minimum":[91],"time":[92,125],"minimum":[94],"time-jerk)":[95],"results":[97,107],"other":[103],"techniques.":[105],"Numerical":[106],"demonstrate":[108],"advantage":[110],"technique,":[114],"offering":[115],"an":[116],"effective":[117],"solution":[118],"short":[123],"execution":[124],"profile.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}