{"id":"https://openalex.org/W3111512338","doi":"https://doi.org/10.1109/access.2020.3043190","title":"Analysis and Verification on the Equivalence Between Jerk-Level and Acceleration-Level Schemes Applied to Manipulators Controlling","display_name":"Analysis and Verification on the Equivalence Between Jerk-Level and Acceleration-Level Schemes Applied to Manipulators Controlling","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3111512338","doi":"https://doi.org/10.1109/access.2020.3043190","mag":"3111512338"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3043190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3043190","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09288725.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/ielx7/6287639/6514899/09288725.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065976989","display_name":"Li He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124531","display_name":"Lanzhou University Second Hospital","ror":"https://ror.org/02erhaz63","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210124531"]},{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Li He","raw_affiliation_strings":["Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","institution_ids":["https://openalex.org/I76214153","https://openalex.org/I4210124531"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109743014","display_name":"Dan Su","orcid":"https://orcid.org/0000-0002-4237-6423"},"institutions":[{"id":"https://openalex.org/I4210124531","display_name":"Lanzhou University Second Hospital","ror":"https://ror.org/02erhaz63","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210124531"]},{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Su","raw_affiliation_strings":["Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","institution_ids":["https://openalex.org/I76214153","https://openalex.org/I4210124531"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347934","display_name":"Mei Liu","orcid":"https://orcid.org/0000-0003-0445-941X"},"institutions":[{"id":"https://openalex.org/I4210124531","display_name":"Lanzhou University Second Hospital","ror":"https://ror.org/02erhaz63","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210124531"]},{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Liu","raw_affiliation_strings":["Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Medical Imaging, Lanzhou University Second Hospital, Lanzhou, China","institution_ids":["https://openalex.org/I76214153","https://openalex.org/I4210124531"]},{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088582446","display_name":"Zhiguan Huang","orcid":"https://orcid.org/0000-0002-2057-7021"},"institutions":[{"id":"https://openalex.org/I3130633384","display_name":"Guangzhou Sport University","ror":"https://ror.org/046r6pk12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3130633384"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiguan Huang","raw_affiliation_strings":["Guangdong Provincial Engineering Technology Research Center for Sports Assistive Device, Guangzhou Sport University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Engineering Technology Research Center for Sports Assistive Device, Guangzhou Sport University, Guangzhou, China","institution_ids":["https://openalex.org/I3130633384"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5065976989"],"corresponding_institution_ids":["https://openalex.org/I4210124531","https://openalex.org/I76214153"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2975,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58011545,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"8","issue":null,"first_page":"221051","last_page":"221060"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9825999736785889,"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":0.93879234790802},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7500630617141724},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7200050354003906},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.6204233169555664},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5877090096473694},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5191135406494141},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.46609723567962646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33199140429496765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23339617252349854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19706737995147705},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08747270703315735},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08487120270729065}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.93879234790802},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7500630617141724},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7200050354003906},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.6204233169555664},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5877090096473694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5191135406494141},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.46609723567962646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33199140429496765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23339617252349854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19706737995147705},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08747270703315735},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08487120270729065},{"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/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2020.3043190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3043190","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09288725.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:ir.lzu.edu.cn/:262010/443604","is_oa":false,"landing_page_url":"http://ir.lzu.edu.cn/handle/262010/443604","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"},{"id":"pmh:oai:doaj.org/article:d5447cf0841a4d6c85a5b3583649f4a7","is_oa":true,"landing_page_url":"https://doaj.org/article/d5447cf0841a4d6c85a5b3583649f4a7","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 221051-221060 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3043190","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3043190","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09288725.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":[],"awards":[{"id":"https://openalex.org/G1908457480","display_name":null,"funder_award_id":"lzujbky-2019","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2163126942","display_name":null,"funder_award_id":"202002","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"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/G3693147287","display_name":null,"funder_award_id":"lzujbky-","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4007628675","display_name":null,"funder_award_id":"5200080589","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G498424262","display_name":null,"funder_award_id":"2020-RC-34","funder_id":"https://openalex.org/F4320324678","funder_display_name":"Lanzhou Science and Technology Bureau"},{"id":"https://openalex.org/G6040639042","display_name":null,"funder_award_id":"lzujbky","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6423273461","display_name":null,"funder_award_id":"201901007048","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7258137010","display_name":null,"funder_award_id":"20YFZJ0018","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7282980257","display_name":null,"funder_award_id":"lzujbky-2019-89","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/F4320324678","display_name":"Lanzhou Science and Technology Bureau","ror":"https://ror.org/030q46522"},{"id":"https://openalex.org/F4320329850","display_name":"Innovation and Entrepreneurship Talent Project of Lanzhou","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3111512338.pdf","grobid_xml":"https://content.openalex.org/works/W3111512338.grobid-xml"},"referenced_works_count":66,"referenced_works":["https://openalex.org/W405308472","https://openalex.org/W1747869530","https://openalex.org/W1822155672","https://openalex.org/W1977431861","https://openalex.org/W1988751333","https://openalex.org/W2010411578","https://openalex.org/W2021338655","https://openalex.org/W2032571467","https://openalex.org/W2056398894","https://openalex.org/W2124039299","https://openalex.org/W2127832757","https://openalex.org/W2138594241","https://openalex.org/W2156485650","https://openalex.org/W2169555996","https://openalex.org/W2175997243","https://openalex.org/W2245759308","https://openalex.org/W2405909743","https://openalex.org/W2444581964","https://openalex.org/W2461045134","https://openalex.org/W2467979783","https://openalex.org/W2538585387","https://openalex.org/W2567444783","https://openalex.org/W2605564896","https://openalex.org/W2606637053","https://openalex.org/W2696256157","https://openalex.org/W2716009774","https://openalex.org/W2726113933","https://openalex.org/W2735496307","https://openalex.org/W2749442339","https://openalex.org/W2765820394","https://openalex.org/W2786046247","https://openalex.org/W2792400536","https://openalex.org/W2795974647","https://openalex.org/W2800459683","https://openalex.org/W2883972132","https://openalex.org/W2885060261","https://openalex.org/W2895670123","https://openalex.org/W2896936148","https://openalex.org/W2897084119","https://openalex.org/W2897448795","https://openalex.org/W2898406129","https://openalex.org/W2899034752","https://openalex.org/W2909096712","https://openalex.org/W2915278269","https://openalex.org/W2928382658","https://openalex.org/W2937480306","https://openalex.org/W2943486285","https://openalex.org/W2946314455","https://openalex.org/W2955747245","https://openalex.org/W2968077796","https://openalex.org/W2971212725","https://openalex.org/W2985850350","https://openalex.org/W2995023946","https://openalex.org/W2998930101","https://openalex.org/W2999184988","https://openalex.org/W2999899554","https://openalex.org/W3000352647","https://openalex.org/W3002270926","https://openalex.org/W3004039693","https://openalex.org/W3007340999","https://openalex.org/W3023037634","https://openalex.org/W3035605716","https://openalex.org/W3041576302","https://openalex.org/W3045085421","https://openalex.org/W3093499421","https://openalex.org/W6990526268"],"related_works":["https://openalex.org/W2376623953","https://openalex.org/W2352897580","https://openalex.org/W2118664347","https://openalex.org/W2348411017","https://openalex.org/W3049304016","https://openalex.org/W1977630140","https://openalex.org/W2019544916","https://openalex.org/W2093995589","https://openalex.org/W2513330233","https://openalex.org/W2568861134"],"abstract_inverted_index":{"Two":[0],"different-level":[1],"schemes":[2,90],"are":[3,35,100,116,129],"researched":[4],"in":[5],"this":[6],"article":[7],"for":[8],"achieving":[9],"the":[10,22,26,30,59,62,69,73,84,88,93,120,123,133],"kinematic":[11],"control":[12],"of":[13,17,61,68,104],"redundant":[14],"manipulators,":[15],"one":[16],"which":[18],"is":[19,28,79],"exploited":[20],"at":[21,29,132],"acceleration":[23],"level,":[24],"and":[25,48,76,113,126],"other":[27],"jerk":[31],"level.":[32],"Firstly,":[33],"they":[34],"both":[36],"reconstructed":[37],"as":[38],"a":[39,51,65],"standard":[40],"quadratic":[41],"programming":[42],"problem":[43],"with":[44,92],"different":[45,98],"parameter":[46],"definitions":[47],"addressed":[49],"by":[50,87],"gradient":[52],"neural":[53],"network":[54],"(GNN)":[55],"method.":[56],"Secondly,":[57],"from":[58],"perspective":[60],"GNN":[63,94],"algorithm,":[64],"theoretical":[66],"interpretation":[67],"intrinsic":[70],"equivalence":[71,121],"between":[72,122],"acceleration-level":[74],"scheme":[75,78],"jerk-level":[77],"performed.":[80],"Further,":[81],"simulations":[82],"on":[83],"manipulator":[85],"synthesized":[86],"two":[89,97,124],"aided":[91],"method":[95],"tracking":[96],"trajectories":[99],"conducted.":[101],"Finally,":[102],"comparisons":[103],"relevant":[105],"joint":[106,109,111,114],"data":[107],"(i.e.,":[108],"angles,":[110],"velocities,":[112],"accelerations)":[115],"presented":[117],"to":[118],"substantiate":[119],"schemes,":[125],"simulative":[127],"experiments":[128],"carried":[130],"out":[131],"same":[134],"time.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}