{"id":"https://openalex.org/W2751058573","doi":"https://doi.org/10.1109/aim.2017.8014189","title":"Trajectory planning of robot manipulators based on unit quaternion","display_name":"Trajectory planning of robot manipulators based on unit quaternion","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2751058573","doi":"https://doi.org/10.1109/aim.2017.8014189","mag":"2751058573"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5100356040","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0002-9562-0506"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006416939","display_name":"Zongwu Xie","orcid":"https://orcid.org/0000-0003-4450-8730"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongwu Xie","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024880975","display_name":"Yikun Gu","orcid":"https://orcid.org/0000-0002-7645-3386"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yikun Gu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050074694","display_name":"Chunguang Fan","orcid":"https://orcid.org/0000-0002-2416-0530"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunguang Fan","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, CO, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100781606","display_name":"Xiaoyu Zhao","orcid":"https://orcid.org/0000-0001-8901-7498"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Zhao","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, Heilongjiang, CN"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, Heilongjiang, CN","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032709433","display_name":"Hongyuan Liu","orcid":"https://orcid.org/0000-0002-5437-4695"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, Heilongjiang, CN"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, Heilongjiang, CN","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100356040"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.2012,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.52086537,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1249","last_page":"1254"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/quaternion","display_name":"Quaternion","score":0.7917726039886475},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7614537477493286},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6450111865997314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5985033512115479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5935478210449219},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5421387553215027},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5403734445571899},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5304787755012512},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4828108251094818},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.46438536047935486},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4384848475456238},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42942821979522705},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4291132688522339},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41153252124786377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23294976353645325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2069309949874878},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.1063336431980133}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7917726039886475},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7614537477493286},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6450111865997314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5985033512115479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5935478210449219},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5421387553215027},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5403734445571899},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5304787755012512},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4828108251094818},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.46438536047935486},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4384848475456238},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42942821979522705},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4291132688522339},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41153252124786377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23294976353645325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2069309949874878},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.1063336431980133},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1481010376","https://openalex.org/W1540781502","https://openalex.org/W1977259876","https://openalex.org/W1978933080","https://openalex.org/W1984732971","https://openalex.org/W1991234806","https://openalex.org/W2025302331","https://openalex.org/W2028966947","https://openalex.org/W2032542754","https://openalex.org/W2034767184","https://openalex.org/W2058917234","https://openalex.org/W2134533546","https://openalex.org/W2142300857","https://openalex.org/W3148280926","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W3127350447","https://openalex.org/W3108700312","https://openalex.org/W4225472102","https://openalex.org/W2382948573","https://openalex.org/W2887325221","https://openalex.org/W3099445031","https://openalex.org/W2184550115","https://openalex.org/W3121191907","https://openalex.org/W2391028436","https://openalex.org/W4385643989"],"abstract_inverted_index":{"Trajectory":[0],"planning":[1,34,62,112],"has":[2],"been":[3],"a":[4,15,32],"common":[5],"and":[6,69,108],"important":[7],"topic":[8],"in":[9,26,63],"robotics":[10],"since":[11],"its":[12],"generation.":[13],"As":[14],"powerful":[16],"tool,":[17],"it":[18],"can":[19,118],"enhance":[20],"the":[21,24,48,51,70,82,92,96,110,127],"performance":[22],"of":[23,50,116],"robots":[25],"manufacturing":[27],"industry.":[28],"In":[29],"this":[30],"paper,":[31],"trajectory":[33,60,94,111],"method":[35,68],"based":[36],"on":[37,79],"unit":[38],"quaternion":[39],"was":[40,61,103],"proposed.":[41],"Unit":[42],"quaternions":[43],"were":[44,72,87],"used":[45],"to":[46,90,106,126],"represent":[47],"orientations":[49,71],"target":[52,117],"as":[53],"there":[54],"are":[55],"no":[56],"more":[57],"singularities.":[58],"The":[59,114],"Cartesian":[64],"space":[65],"using":[66,74],"Paul's":[67],"intermediated":[73],"spherical":[75],"linear":[76],"interpolation.":[77],"Experiments":[78],"PUMA":[80],"560,":[81],"analytical":[83],"inverse":[84],"kinematics":[85],"solutions":[86],"figured":[88],"out":[89],"generate":[91],"joint":[93],"for":[95],"execution":[97],"phase.":[98],"A":[99],"virtual":[100],"simulation":[101],"platform":[102],"built":[104],"up":[105],"verify":[107],"illustrate":[109],"algorithm.":[113],"data":[115],"be":[119],"updated":[120],"with":[121],"time":[122],"which":[123],"is":[124],"meaningful":[125],"visual":[128],"servo":[129],"system.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}