{"id":"https://openalex.org/W2063323286","doi":"https://doi.org/10.1108/01439910810909547","title":"A study on co\u2010operative motion planning of a dual manipulator system for measuring radioactivity","display_name":"A study on co\u2010operative motion planning of a dual manipulator system for measuring radioactivity","publication_year":2008,"publication_date":"2008-10-17","ids":{"openalex":"https://openalex.org/W2063323286","doi":"https://doi.org/10.1108/01439910810909547","mag":"2063323286"},"language":"en","primary_location":{"id":"doi:10.1108/01439910810909547","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910810909547","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5108633289","display_name":"Shigeru AOMURA","orcid":null},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeru Aomura","raw_affiliation_strings":["System Design Department, Tokyo Metropolitan University, Tokyo, Japan","(System Design Department, Tokyo Metropolitan University, Tokyo, Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"System Design Department, Tokyo Metropolitan University, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]},{"raw_affiliation_string":"(System Design Department, Tokyo Metropolitan University, Tokyo, Japan)","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088874310","display_name":"Muneo Harada","orcid":null},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Muneo Harada","raw_affiliation_strings":["Tokyo Metropolitan University, Tokyo, Japan","Tokyo Metropolitan University, Tokyo/Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Metropolitan University, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]},{"raw_affiliation_string":"Tokyo Metropolitan University, Tokyo/Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084753479","display_name":"Toshihiro Nagatomo","orcid":null},"institutions":[{"id":"https://openalex.org/I69740276","display_name":"Tokyo Metropolitan University","ror":"https://ror.org/00ws30h19","country_code":"JP","type":"education","lineage":["https://openalex.org/I69740276"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshihiro Nagatomo","raw_affiliation_strings":["Tokyo Metropolitan University, Tokyo, Japan","Tokyo Metropolitan University, Tokyo/Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo Metropolitan University, Tokyo, Japan","institution_ids":["https://openalex.org/I69740276"]},{"raw_affiliation_string":"Tokyo Metropolitan University, Tokyo/Japan","institution_ids":["https://openalex.org/I69740276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025156272","display_name":"Satoshi Yanagihara","orcid":null},"institutions":[{"id":"https://openalex.org/I117197279","display_name":"Japan Atomic Energy Agency","ror":"https://ror.org/05nf86y53","country_code":"JP","type":"funder","lineage":["https://openalex.org/I117197279"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Yanagihara","raw_affiliation_strings":["Japan Atomic Energy Agency, Ibaraki, Japan","Japan Atomic Energy Agency , Ibaraki , Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Atomic Energy Agency, Ibaraki, Japan","institution_ids":["https://openalex.org/I117197279"]},{"raw_affiliation_string":"Japan Atomic Energy Agency , Ibaraki , Japan","institution_ids":["https://openalex.org/I117197279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108547422","display_name":"Mitsuo Tachibana","orcid":null},"institutions":[{"id":"https://openalex.org/I117197279","display_name":"Japan Atomic Energy Agency","ror":"https://ror.org/05nf86y53","country_code":"JP","type":"funder","lineage":["https://openalex.org/I117197279"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuo Tachibana","raw_affiliation_strings":["Japan Atomic Energy Agency, Ibaraki, Japan","Japan Atomic Energy Agency , Ibaraki , Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Atomic Energy Agency, Ibaraki, Japan","institution_ids":["https://openalex.org/I117197279"]},{"raw_affiliation_string":"Japan Atomic Energy Agency , Ibaraki , Japan","institution_ids":["https://openalex.org/I117197279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4846,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90161852,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":"6","first_page":"541","last_page":"548"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9961000084877014,"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/T13827","display_name":"Mechatronics Education and Applications","score":0.9873999953269958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nuclear-decommissioning","display_name":"Nuclear decommissioning","score":0.7378722429275513},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6887739300727844},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6779897212982178},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6580905318260193},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5660061240196228},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5582274794578552},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5306443572044373},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4908073842525482},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47959935665130615},{"id":"https://openalex.org/keywords/realisation","display_name":"Realisation","score":0.4743840992450714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46318602561950684},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43432775139808655},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.41222167015075684},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39227476716041565},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.382489413022995},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34507209062576294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18280458450317383},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17696979641914368},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16506364941596985},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10085907578468323},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08020886778831482},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06251513957977295}],"concepts":[{"id":"https://openalex.org/C175349315","wikidata":"https://www.wikidata.org/wiki/Q1938123","display_name":"Nuclear decommissioning","level":2,"score":0.7378722429275513},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6887739300727844},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6779897212982178},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6580905318260193},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5660061240196228},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5582274794578552},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5306443572044373},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4908073842525482},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47959935665130615},{"id":"https://openalex.org/C2779462738","wikidata":"https://www.wikidata.org/wiki/Q17146409","display_name":"Realisation","level":2,"score":0.4743840992450714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46318602561950684},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43432775139808655},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41222167015075684},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39227476716041565},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.382489413022995},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34507209062576294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18280458450317383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17696979641914368},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16506364941596985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10085907578468323},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08020886778831482},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06251513957977295},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439910810909547","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910810909547","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W2018117885","https://openalex.org/W2057312281","https://openalex.org/W2140003424","https://openalex.org/W2512241506"],"related_works":["https://openalex.org/W1575450301","https://openalex.org/W2384153412","https://openalex.org/W2961288924","https://openalex.org/W3216614199","https://openalex.org/W1976426536","https://openalex.org/W2905438468","https://openalex.org/W2317286314","https://openalex.org/W2346806197","https://openalex.org/W4234929297","https://openalex.org/W2810895613"],"abstract_inverted_index":{"Purpose":[0],"The":[1,35],"aim":[2],"of":[3,25,38,47,62,75,83,94],"this":[4],"paper":[5],"is":[6,100,119],"to":[7,10,21,102],"describe":[8],"how":[9],"make":[11],"a":[12,17,30,55],"co\u2010operative":[13,60,85],"motion":[14,61,92,113],"plan":[15],"for":[16,80],"dual":[18,68],"manipulator":[19,69],"system":[20,36,70],"measure":[22],"the":[23,41,45,48,52,63,76,81,91,112,116],"radioactivity":[24],"wastes":[26],"produced":[27],"in":[28],"decommissioning":[29],"nuclear":[31],"power":[32],"plant.":[33],"Design/methodology/approach":[34],"consists":[37],"two":[39,64],"tasks:":[40],"main":[42],"task":[43],"generates":[44],"path":[46],"measuring":[49],"operation":[50],"and":[51],"subtask":[53],"maintains":[54],"good":[56],"working":[57,78],"position":[58,79],"by":[59],"manipulators.":[65],"Findings":[66],"A":[67],"requires":[71],"an":[72,104,122],"effective":[73,105],"indicator":[74],"current":[77,117],"realisation":[82],"flexible":[84],"motion.":[86],"Extended":[87,108],"manipulability,":[88,109],"which":[89,110],"takes":[90],"limit":[93],"each":[95],"joint":[96],"angle":[97],"into":[98],"consideration,":[99],"shown":[101],"be":[103],"indicator.":[106],"Originality/value":[107],"shows":[111],"possible":[114],"from":[115],"configuration,":[118],"offered":[120],"as":[121],"improvement":[123],"on":[124],"conventional":[125],"manipulability.":[126]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}