{"id":"https://openalex.org/W4399679404","doi":"https://doi.org/10.1108/ir-01-2024-0037","title":"Force manipulability-oriented manipulation planning for collaborative robot","display_name":"Force manipulability-oriented manipulation planning for collaborative robot","publication_year":2024,"publication_date":"2024-06-14","ids":{"openalex":"https://openalex.org/W4399679404","doi":"https://doi.org/10.1108/ir-01-2024-0037"},"language":"en","primary_location":{"id":"doi:10.1108/ir-01-2024-0037","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2024-0037","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: the international journal of robotics research and application","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/A5057389542","display_name":"Tianyu Zhang","orcid":"https://orcid.org/0000-0002-2508-1949"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyu Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China; Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China and University of the Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China; Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China and University of the Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086025983","display_name":"H. G. Wang","orcid":"https://orcid.org/0000-0002-2044-5184"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongguang Wang","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101962183","display_name":"Peng Lv","orcid":"https://orcid.org/0000-0002-7113-1935"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng LV","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089596856","display_name":"Xinan Pan","orcid":"https://orcid.org/0000-0001-8539-9345"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin\u2019an Pan","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China and Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109733256","display_name":"Huiyang Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093217","display_name":"China National Pharmaceutical Group Corporation (China)","ror":"https://ror.org/00k3gyk15","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093217"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyang Yu","raw_affiliation_strings":["China National Aviation Fuel Group Limited, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China National Aviation Fuel Group Limited, Beijing, China","institution_ids":["https://openalex.org/I4210093217"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8739,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72852686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"51","issue":"5","first_page":"857","last_page":"869"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9980999827384949,"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/computer-science","display_name":"Computer science","score":0.6359599828720093},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6240134239196777},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5843951106071472},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5716631412506104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5185602307319641},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.46731775999069214},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4251898229122162},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3504754304885864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26737064123153687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23236235976219177},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1243751049041748},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09274935722351074}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6359599828720093},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6240134239196777},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5843951106071472},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5716631412506104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5185602307319641},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.46731775999069214},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4251898229122162},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3504754304885864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26737064123153687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23236235976219177},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1243751049041748},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09274935722351074},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-01-2024-0037","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2024-0037","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: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.47999998927116394,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2004139909","https://openalex.org/W2019965290","https://openalex.org/W2055201760","https://openalex.org/W2079074593","https://openalex.org/W2086860466","https://openalex.org/W2116341587","https://openalex.org/W2121174025","https://openalex.org/W2142224528","https://openalex.org/W2150815304","https://openalex.org/W2161819990","https://openalex.org/W2288650507","https://openalex.org/W2512112547","https://openalex.org/W2591194352","https://openalex.org/W2635196571","https://openalex.org/W2736887377","https://openalex.org/W2738075826","https://openalex.org/W2786893837","https://openalex.org/W2922464707","https://openalex.org/W2963130659","https://openalex.org/W2971244547","https://openalex.org/W2996951424","https://openalex.org/W3004478643","https://openalex.org/W3045503639","https://openalex.org/W3090293438","https://openalex.org/W3091360778","https://openalex.org/W3102334304","https://openalex.org/W3102509322","https://openalex.org/W3104753760","https://openalex.org/W4306146011","https://openalex.org/W4313644344","https://openalex.org/W4315750702","https://openalex.org/W4327956454","https://openalex.org/W4379385261","https://openalex.org/W4387074742"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W3094485622","https://openalex.org/W3001080452"],"abstract_inverted_index":{"Purpose":[0],"Collaborative":[1],"robots":[2],"(cobots)":[3],"are":[4,23],"widely":[5],"used":[6],"in":[7,33,47,139,236,241],"various":[8],"manipulation":[9,17,21,64,111,133,211],"tasks":[10],"within":[11],"complex":[12],"industrial":[13],"environments.":[14],"However,":[15],"the":[16,55,96,99,103,114,117,123,127,140,144,147,152,156,173,176,181,188,192,207,213,216],"capabilities":[18],"of":[19,35,84,102,120,149,180,195,210],"cobot":[20],"planning":[22,40,65,81,221],"reduced":[24],"by":[25],"task,":[26,198,225],"environment":[27,226],"and":[28,162,178,200,222,227,240],"joint":[29,201,228],"physical":[30,202,229],"constraints,":[31],"especially":[32],"terms":[34],"force":[36,62,73,88,104,137,160,193,208],"performance.":[37],"Existing":[38],"motion":[39],"methods":[41],"need":[42],"to":[43,108,131],"be":[44],"more":[45],"effective":[46],"addressing":[48],"these":[49,53],"issues.":[50],"To":[51,205],"overcome":[52],"challenges,":[54],"authors":[56,97,115,145,174],"propose":[57],"a":[58,76,82],"novel":[59],"method":[60,71,233],"named":[61],"manipulability-oriented":[63],"(FMMP)":[66],"for":[67,155],"cobots.":[68],"Design/methodology/approach":[69],"This":[70],"integrates":[72],"manipulability":[74,89,105,161],"into":[75,218],"bidirectional":[77],"sampling":[78,157],"algorithm,":[79,158],"thus":[80],"series":[83],"paths":[85],"with":[86,122,170],"high":[87],"while":[90],"satisfying":[91],"constraints.":[92,203,230],"In":[93],"this":[94],"paper,":[95],"use":[98,146],"geometric":[100],"properties":[101],"ellipsoid":[106],"(FME)":[107],"determine":[109,132],"appropriate":[110],"configurations.":[112],"First,":[113],"match":[116],"principal":[118],"axes":[119],"FME":[121,150,217],"task":[124],"constraints":[125],"at":[126],"robot\u2019s":[128],"end":[129],"effector":[130],"poses,":[134],"ensuring":[135],"enhanced":[136],"generation":[138],"desired":[141],"direction.":[142],"Next,":[143],"volume":[148],"as":[151],"cost":[153],"function":[154],"increasing":[159],"avoiding":[163],"kinematic":[164],"singularities.":[165],"Findings":[166],"Through":[167],"experimental":[168],"comparisons":[169],"existing":[171],"algorithms,":[172],"validate":[175],"effectiveness":[177],"superiority":[179],"proposed":[182,232],"method.":[183],"The":[184,231],"results":[185],"demonstrate":[186],"that":[187],"FMMP":[189,214],"significantly":[190],"improves":[191],"performance":[194,209],"cobots":[196],"under":[197],"environmental":[199],"Originality/value":[204],"improve":[206],"planning,":[212],"introduces":[215],"sampling-based":[219],"path":[220],"comprehensively":[223],"considers":[224],"performs":[234],"satisfactorily":[235],"experiments,":[237],"including":[238],"assembly":[239],"situ":[242],"measurement.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}