{"id":"https://openalex.org/W3097872839","doi":"https://doi.org/10.1109/access.2020.3035430","title":"Study on High-Speed and Smooth Transfer of Robot Motion Trajectory Based on Modified S-Shaped Acceleration/Deceleration Algorithm","display_name":"Study on High-Speed and Smooth Transfer of Robot Motion Trajectory Based on Modified S-Shaped Acceleration/Deceleration Algorithm","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3097872839","doi":"https://doi.org/10.1109/access.2020.3035430","mag":"3097872839"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3035430","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3035430","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09247089.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/ielx7/6287639/8948470/09247089.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076908714","display_name":"Shanxiang Fang","orcid":"https://orcid.org/0000-0001-9430-0263"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shanxiang Fang","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101397436","display_name":"Jianguo Cao","orcid":"https://orcid.org/0000-0001-8863-9244"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianguo Cao","raw_affiliation_strings":["Mechanical Electrical Engineering School, Beijing Information Science and Technology University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Electrical Engineering School, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101745676","display_name":"Zhengyang Zhang","orcid":"https://orcid.org/0000-0003-4319-1532"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]},{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyang Zhang","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","Suzhou Elite Robot Company Ltd., Suzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]},{"raw_affiliation_string":"Suzhou Elite Robot Company Ltd., Suzhou, China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103258855","display_name":"Qinjian Zhang","orcid":"https://orcid.org/0000-0002-8942-4664"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinjian Zhang","raw_affiliation_strings":["Mechanical Electrical Engineering School, Beijing Information Science and Technology University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Mechanical Electrical Engineering School, Beijing Information Science and Technology University, Beijing, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100357393","display_name":"Weidong Cheng","orcid":"https://orcid.org/0000-0003-4694-3074"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Cheng","raw_affiliation_strings":["School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5076908714"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.19,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.79218087,"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":"199747","last_page":"199758"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9940000176429749,"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/jerk","display_name":"Jerk","score":0.7793972492218018},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7720823287963867},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7628459930419922},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.6514499187469482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6025815010070801},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5594844222068787},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5359315276145935},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5161582231521606},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5127721428871155},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4961331784725189},{"id":"https://openalex.org/keywords/transfer","display_name":"Transfer (computing)","score":0.4602604806423187},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.4298916459083557},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42164599895477295},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3825254440307617},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33550816774368286},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.21736818552017212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.210587739944458},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13123083114624023},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09552416205406189},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08343440294265747},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06476706266403198}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.7793972492218018},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7720823287963867},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7628459930419922},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.6514499187469482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6025815010070801},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5594844222068787},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5359315276145935},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5161582231521606},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5127721428871155},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4961331784725189},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.4602604806423187},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.4298916459083557},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42164599895477295},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3825254440307617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33550816774368286},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.21736818552017212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.210587739944458},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13123083114624023},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09552416205406189},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08343440294265747},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06476706266403198},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3035430","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3035430","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09247089.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:7a14620907284c2ca1826a7d1b16d467","is_oa":true,"landing_page_url":"https://doaj.org/article/7a14620907284c2ca1826a7d1b16d467","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 199747-199758 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3035430","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3035430","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09247089.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":[{"score":0.44999998807907104,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2376276132","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2529268397","display_name":null,"funder_award_id":"2019YFC0119203","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G2746991767","display_name":null,"funder_award_id":"2018YJS135","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8951484681","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3097872839.pdf","grobid_xml":"https://content.openalex.org/works/W3097872839.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W152883067","https://openalex.org/W1967171317","https://openalex.org/W1997528424","https://openalex.org/W2024869036","https://openalex.org/W2062505186","https://openalex.org/W2092413775","https://openalex.org/W2104705453","https://openalex.org/W2110925939","https://openalex.org/W2148245001","https://openalex.org/W2164337544","https://openalex.org/W2308907948","https://openalex.org/W2335538542","https://openalex.org/W2335826550","https://openalex.org/W2338996732","https://openalex.org/W2508637435","https://openalex.org/W2897927565","https://openalex.org/W2901262610","https://openalex.org/W2955434260","https://openalex.org/W2982553982","https://openalex.org/W3041555903"],"related_works":["https://openalex.org/W2497204748","https://openalex.org/W2058965144","https://openalex.org/W4281395624","https://openalex.org/W2164382479","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W2122209352"],"abstract_inverted_index":{"To":[0],"meet":[1],"the":[2,49,67,76,80,84,91,96,99,108,117,131,140],"requirements":[3],"on":[4,39,98],"industrial":[5,135],"robots":[6,136],"concerning":[7],"their":[8],"fast-moving":[9],"pick-and-place":[10],"or":[11],"obstacle":[12],"avoidance,":[13],"this":[14,124,126],"article":[15],"puts":[16],"forward":[17],"a":[18,40,53,105],"novel":[19],"high-speed":[20],"and":[21,59,101,116,137],"smooth":[22,50,132],"transfer":[23,127],"control":[24,36],"algorithm":[25,37,62,128],"for":[26],"spatial":[27,64],"elliptic":[28,65],"trajectory":[29,92],"-":[30],"an":[31],"modified":[32],"S-shaped":[33],"acceleration/deceleration":[34],"(ACC/DEC)":[35],"based":[38],"piecewise":[41],"continuous":[42],"jerk":[43],"curve":[44,110],"in":[45],"order":[46],"to":[47,95,113],"achieve":[48],"motion":[51,133,141],"at":[52,83],"high":[54],"speed.":[55],"Through":[56],"mathematical":[57],"modeling":[58],"interpolation":[60,68],"point":[61,69,86],"of":[63,104,134],"trajectory,":[66],"information":[70],"can":[71,87,129],"be":[72,88,114],"obtained.":[73],"Then,":[74],"using":[75],"speed":[77,82],"look-ahead":[78],"algorithm,":[79],"optimal":[81],"switching":[85],"calculated":[89],"during":[90],"transfer.":[93],"According":[94],"analysis":[97],"experiment":[100],"simulation":[102],"results":[103],"sorting":[106],"case,":[107],"velocity":[109],"turned":[111],"out":[112],"smoother":[115],"run":[118],"time":[119],"decreased":[120],"by":[121],"33.69%.":[122],"In":[123],"way,":[125],"guarantee":[130],"also":[138],"improve":[139],"efficiency":[142],"significantly.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}