{"id":"https://openalex.org/W2099514267","doi":"https://doi.org/10.1108/ir-04-2015-0077","title":"A fixed-distance planning algorithm for 6-DOF manipulators","display_name":"A fixed-distance planning algorithm for 6-DOF manipulators","publication_year":2015,"publication_date":"2015-10-07","ids":{"openalex":"https://openalex.org/W2099514267","doi":"https://doi.org/10.1108/ir-04-2015-0077","mag":"2099514267"},"language":"en","primary_location":{"id":"doi:10.1108/ir-04-2015-0077","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2015-0077","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/A5068219856","display_name":"Mingyu Gao","orcid":"https://orcid.org/0000-0002-5930-9526"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingyu Gao","raw_affiliation_strings":["College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392728","display_name":"Da Chen","orcid":"https://orcid.org/0000-0002-6557-1512"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Da Chen","raw_affiliation_strings":["College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042782010","display_name":"Yuxiang Yang","orcid":"https://orcid.org/0000-0001-8613-7822"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiang Yang","raw_affiliation_strings":["College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046335655","display_name":"Zhiwei He","orcid":"https://orcid.org/0000-0001-7264-2019"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei He","raw_affiliation_strings":["College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]"],"affiliations":[{"raw_affiliation_string":"College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"[College of Electronic Information, Hangzhou Dianzi University, Hangzhou, China]","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068219856"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":1.683,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85883643,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"42","issue":"6","first_page":"586","last_page":"599"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/trajectory","display_name":"Trajectory","score":0.8457465767860413},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.7475790977478027},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7228857278823853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5717684626579285},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5557010769844055},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5467726588249207},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.5349375605583191},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48519113659858704},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44601961970329285},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4314749538898468},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4231574833393097},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.37791526317596436},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37752455472946167},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3203628659248352},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29879438877105713},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.290466845035553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25017020106315613},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23606759309768677},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09051954746246338}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8457465767860413},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.7475790977478027},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7228857278823853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5717684626579285},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5557010769844055},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5467726588249207},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.5349375605583191},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48519113659858704},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44601961970329285},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4314749538898468},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4231574833393097},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.37791526317596436},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37752455472946167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3203628659248352},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29879438877105713},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.290466845035553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25017020106315613},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23606759309768677},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09051954746246338},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-04-2015-0077","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-04-2015-0077","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":[{"score":0.5199999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W113836369","https://openalex.org/W1527786550","https://openalex.org/W1555601014","https://openalex.org/W1558446093","https://openalex.org/W1585673347","https://openalex.org/W1921905100","https://openalex.org/W1927886063","https://openalex.org/W1973001290","https://openalex.org/W1990597525","https://openalex.org/W1997564015","https://openalex.org/W2007390254","https://openalex.org/W2032420154","https://openalex.org/W2057802899","https://openalex.org/W2061159069","https://openalex.org/W2061444623","https://openalex.org/W2073807272","https://openalex.org/W2076407732","https://openalex.org/W2086329859","https://openalex.org/W2090651302","https://openalex.org/W2102029949","https://openalex.org/W2111803854","https://openalex.org/W2128949346","https://openalex.org/W2136175957","https://openalex.org/W2140986640","https://openalex.org/W2152421929","https://openalex.org/W2158462251","https://openalex.org/W2246023205","https://openalex.org/W3000763186"],"related_works":["https://openalex.org/W3024822859","https://openalex.org/W2083949991","https://openalex.org/W2352032688","https://openalex.org/W2054153812","https://openalex.org/W1554767907","https://openalex.org/W2181770720","https://openalex.org/W2946972655","https://openalex.org/W2116772699","https://openalex.org/W2142991289","https://openalex.org/W2468204517"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,74,113,146],"The":[2,75,84,125],"purpose":[3],"of":[4,44,47,78,106,157],"this":[5],"paper":[6],"is":[7,152],"to":[8],"propose":[9],"a":[10,25,103],"new":[11],"trajectory":[12,53,116,131,134,158],"planning":[13,39,117],"algorithm":[14,81,118,151],"for":[15],"industrial":[16,48,109,143,161,168],"robots,":[17],"which":[18,159],"can":[19,54,163,170],"let":[20,55],"the":[21,42,56,60,79,141,155,160,167],"robots":[22],"move":[23,58,171],"through":[24,59],"desired":[26,61],"spatial":[27,62],"trajectory,":[28,127,129],"avoid":[29,64],"colliding":[30,65],"with":[31,66,97],"other":[32,67],"objects":[33,68],"and":[34,69,89,95,99,132,149,175],"achieve":[35,70],"accurate":[36,71],"movements.":[37,72],"Trajectory":[38],"algorithms":[40],"are":[41,82,93],"soul":[43],"motion":[45],"control":[46,88,91],"robots.":[49],"A":[50,114,147],"predefined":[51],"space":[52],"robot":[57,110,162,169],"coordinates,":[63],"Design/methodology/approach":[73],"mathematical":[76],"expressions":[77],"proposed":[80],"deduced.":[83],"speed":[85],"control,":[86],"position":[87],"orientation":[90],"strategies":[92],"realized":[94],"verified":[96],"simulations,":[98],"then":[100],"implemented":[101,139],"on":[102,120,140],"six":[104],"degrees":[105],"freedom":[107],"(6-DOF)":[108],"platform.":[111],"Findings":[112],"fixed-distance":[115],"based":[119],"Cartesian":[121,136],"coordinates":[122,137],"was":[123],"presented.":[124],"linear":[126],"circular":[128],"helical":[130],"parabolic":[133],"in":[135],"were":[138],"6-DOF":[142],"robot.":[144],"Originality/value":[145],"simple":[148],"efficient":[150],"proposed.":[153],"Enrich":[154],"kind":[156],"realize.":[164],"In":[165],"addition,":[166],"more":[172],"concisely,":[173],"smoothly":[174],"precisely.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}