{"id":"https://openalex.org/W2017781530","doi":"https://doi.org/10.1109/acc.2012.6315261","title":"Smooth and time-optimal trajectory planning for robot manipulators","display_name":"Smooth and time-optimal trajectory planning for robot manipulators","publication_year":2012,"publication_date":"2012-06-01","ids":{"openalex":"https://openalex.org/W2017781530","doi":"https://doi.org/10.1109/acc.2012.6315261","mag":"2017781530"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2012.6315261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103691349","display_name":"P. A. Muller","orcid":null},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"P. A. Muller","raw_affiliation_strings":["Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Kaiserslautern, Germany","Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Erwin-Schrodinger-Str. 12, 67663 Kaiserslautern, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Erwin-Schrodinger-Str. 12, 67663 Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098221804","display_name":"R. Boucherit","orcid":null},"institutions":[{"id":"https://openalex.org/I107257983","display_name":"Darmstadt University of Applied Sciences","ror":"https://ror.org/047wbd030","country_code":"DE","type":"education","lineage":["https://openalex.org/I107257983"]},{"id":"https://openalex.org/I4210097094","display_name":"Wilhelm B\u00fcchner Hochschule","ror":"https://ror.org/00vkbtf98","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210097094"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Boucherit","raw_affiliation_strings":["Wilhelm B\u00fcchner Hochschule, Darmstadt, Germany","Wilhelm B\u00fcchner Hochschule, Ostendstra\u00dfe 3, 64319 Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wilhelm B\u00fcchner Hochschule, Darmstadt, Germany","institution_ids":["https://openalex.org/I107257983","https://openalex.org/I4210097094"]},{"raw_affiliation_string":"Wilhelm B\u00fcchner Hochschule, Ostendstra\u00dfe 3, 64319 Darmstadt, Germany","institution_ids":["https://openalex.org/I4210097094"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010945720","display_name":"Steven Liu","orcid":"https://orcid.org/0000-0002-3407-2745"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Liu","raw_affiliation_strings":["Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Kaiserslautern, Germany","Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Erwin-Schrodinger-Str. 12, 67663 Kaiserslautern, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]},{"raw_affiliation_string":"Institute of Control Systems, Department of Electrical and Computer Engineering, University of Kaiserslautern, Erwin-Schrodinger-Str. 12, 67663 Kaiserslautern, Germany","institution_ids":["https://openalex.org/I153267046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5466","last_page":"5471"},"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":0.9983000159263611,"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":0.995199978351593,"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/smoothness","display_name":"Smoothness","score":0.7444481253623962},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7294862866401672},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6982659697532654},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6662512421607971},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6652103066444397},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6041468977928162},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5971654057502747},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5165854692459106},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4635692238807678},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.46341222524642944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45996198058128357},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44949764013290405},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41285261511802673},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16533827781677246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11991968750953674},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0879564881324768},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08025920391082764}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.7444481253623962},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7294862866401672},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6982659697532654},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6662512421607971},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6652103066444397},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6041468977928162},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5971654057502747},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5165854692459106},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4635692238807678},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.46341222524642944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45996198058128357},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44949764013290405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41285261511802673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16533827781677246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11991968750953674},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0879564881324768},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08025920391082764},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2012.6315261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2012.6315261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7300000190734863,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1480648538","https://openalex.org/W2091197916","https://openalex.org/W2109704591","https://openalex.org/W2116154037","https://openalex.org/W2152421929","https://openalex.org/W2155612543","https://openalex.org/W2164136324"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W2361092061","https://openalex.org/W34817178","https://openalex.org/W2319775965","https://openalex.org/W2357314690","https://openalex.org/W2795976185","https://openalex.org/W2191886813","https://openalex.org/W2163394011","https://openalex.org/W2353606679"],"abstract_inverted_index":{"In":[0],"this":[1],"article":[2],"a":[3],"new":[4],"method":[5],"for":[6,12],"planning":[7,18],"smooth":[8],"and":[9,42,74,96],"time-optimal":[10,84],"trajectories":[11,85],"robot":[13],"manipulators":[14],"is":[15,19],"proposed.":[16],"Trajectory":[17],"considered":[20],"as":[21,30,32],"dynamic":[22],"optimization":[23],"problem":[24],"in":[25,70],"which":[26,71],"the":[27,33,36,39,43,48,54,57,61,87,92],"end-effector":[28],"path":[29,58],"well":[31],"limitations":[34],"of":[35,56],"joint":[37],"velocities,":[38],"actuator":[40,44],"torques":[41],"torque":[45],"rates":[46],"are":[47,76,80],"constraints.":[49],"These":[50],"constraints":[51],"transferred":[52],"to":[53,82],"space":[55,69,90],"variable":[59],"using":[60],"parametrized":[62],"system":[63],"dynamics":[64],"border":[65],"an":[66],"admissible":[67,88],"solution":[68,89],"time":[72],"optimality":[73],"smoothness":[75],"defined.":[77],"DAE":[78],"models":[79],"derived":[81],"construct":[83],"inside":[86],"taking":[91],"maximum":[93],"velocity":[94],"curve":[95],"its":[97],"properties":[98],"into":[99],"account.":[100]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
