{"id":"https://openalex.org/W3023920666","doi":"https://doi.org/10.1109/access.2020.2992343","title":"A Planning Method for Multi-Axis Point-to-Point Synchronization Based on Time Constraints","display_name":"A Planning Method for Multi-Axis Point-to-Point Synchronization Based on Time Constraints","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3023920666","doi":"https://doi.org/10.1109/access.2020.2992343","mag":"3023920666"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2992343","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992343","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09085997.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09085997.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086931739","display_name":"Wang Shanda","orcid":"https://orcid.org/0000-0002-1508-6033"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shan-Da Wang","raw_affiliation_strings":["School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1508-6033","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029465528","display_name":"Xiao Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Luo","raw_affiliation_strings":["School of Computer Science and Technology, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2574-4594","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101813426","display_name":"Shijie Xu","orcid":"https://orcid.org/0000-0002-0347-0599"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi-Jie Xu","raw_affiliation_strings":["School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0347-0599","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616911","display_name":"Qingsheng Luo","orcid":"https://orcid.org/0000-0002-5549-8016"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing-Sheng Luo","raw_affiliation_strings":["School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5549-8016","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101611481","display_name":"Baoling Han","orcid":"https://orcid.org/0000-0002-8794-0657"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bao-Ling Han","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8794-0657","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080221699","display_name":"Guanhao Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guan-Hao Liang","raw_affiliation_strings":["School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2358-1648","affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027705274","display_name":"Jia Yan","orcid":"https://orcid.org/0000-0001-9956-4997"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Jia","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9956-4997","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5086931739"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6367,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.83266172,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"85575","last_page":"85604"},"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":0.9983999729156494,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9970999956130981,"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/computer-science","display_name":"Computer science","score":0.6881482005119324},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.598731517791748},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5153767466545105},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49429941177368164},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.4819500148296356},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.47882822155952454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4596291482448578},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.44117262959480286},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42634329199790955},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34138157963752747},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27133744955062866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1856752336025238},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12482911348342896}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6881482005119324},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.598731517791748},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5153767466545105},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49429941177368164},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.4819500148296356},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47882822155952454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4596291482448578},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.44117262959480286},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42634329199790955},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34138157963752747},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27133744955062866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1856752336025238},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12482911348342896},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2992343","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992343","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09085997.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3520b03a2b4d420da043a10f10b0aa27","is_oa":true,"landing_page_url":"https://doaj.org/article/3520b03a2b4d420da043a10f10b0aa27","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 85575-85604 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2992343","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2992343","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09085997.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4300000071525574,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3023920666.pdf","grobid_xml":"https://content.openalex.org/works/W3023920666.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1973919856","https://openalex.org/W2034767184","https://openalex.org/W2038662471","https://openalex.org/W2044587895","https://openalex.org/W2072554927","https://openalex.org/W2073045360","https://openalex.org/W2087811839","https://openalex.org/W2091771582","https://openalex.org/W2110926800","https://openalex.org/W2119224729","https://openalex.org/W2123823591","https://openalex.org/W2140986640","https://openalex.org/W2145167991","https://openalex.org/W2153628631","https://openalex.org/W2157087522","https://openalex.org/W2171151351","https://openalex.org/W2406915965","https://openalex.org/W2758859608","https://openalex.org/W2790364211","https://openalex.org/W2887024412","https://openalex.org/W2891243267","https://openalex.org/W2895857504","https://openalex.org/W2923302867","https://openalex.org/W2980863223","https://openalex.org/W4245772370"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387"],"abstract_inverted_index":{"In":[0],"this":[1,96,105,134,144,165,182,229],"paper,":[2,106,183],"a":[3,36,85,107,147,184],"third-order":[4,142],"S-curve":[5,53],"is":[6,18,43,71,91],"used":[7],"to":[8],"model":[9],"the":[10,21,28,32,48,52,56,60,64,68,74,78,101,113,141,152,158,162,178,190,203,212,219,232],"motion":[11,207,236],"issue.":[12],"A":[13],"closed":[14,37,220],"method":[15,42,46,149,159,222],"of":[16,51,59,67,77,87,115,133,192,202,223,235],"solving":[17,84,151,161],"derived":[19,72,168],"for":[20,112,150,160,189],"optimal":[22],"point-to-point(P2P)":[23],"time":[24,70,80,174],"issue":[25,82],"based":[26,54,99,172],"on":[27,31,55,100,140,157,173,177],"model.":[29],"Based":[30,156,176],"P2P":[33,79,153],"time-optimal":[34,154,163],"solution,":[35],"multi-axis":[38,224],"synchronization":[39,170],"algorithm":[40],"(MASA)":[41],"proposed.":[44],"This":[45,121],"considers":[47],"kinematic":[49,75],"equation":[50,76],"inverse":[57,65],"function":[58,66],"multivariate":[61],"function.":[62],"Therefore,":[63],"execution":[69],"via":[73],"optimization":[81],"and":[83,200],"set":[86],"smaller":[88],"bandwidth":[89],"parameters":[90],"an":[92],"important":[93],"attempt":[94],"in":[95,104,181,211,228],"paper.":[97],"Otherwise,":[98],"MASA":[102,179],"proposed":[103,180],"synchronous":[108,185],"computing":[109,186],"framework":[110,122,187],"suitable":[111,188],"planning":[114,191],"robot":[116,128,193,204],"space":[117,194],"poses":[118,195],"was":[119,196],"designed.":[120,197],"can":[123,136,208],"effectively":[124],"solve":[125],"problems":[126],"with":[127],"pose":[129],"planning.":[130],"The":[131,198,226],"innovations":[132],"article":[135],"be":[137,209],"summarized":[138],"as:(1)Based":[139],"S-curve,":[143],"paper":[145,166,230],"deduced":[146],"complete":[148],"curve.(2)":[155],"curve,":[164],"further":[167],"three":[169],"methods":[171],"constraints.(3)":[175],"continuity":[199],"smoothness":[201],"joint":[205],"spatial":[206],"guaranteed":[210],"Descartes":[213],"space.":[214],"Few":[215],"scholars":[216],"have":[217],"studied":[218],"solution":[221],"synchronization.":[225],"research":[227,234],"promotes":[231],"theoretical":[233],"control.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}