{"id":"https://openalex.org/W3026355291","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095787","title":"Command Generation of a High Degree of Freedom Robot Manipulator on a Moving Platform","display_name":"Command Generation of a High Degree of Freedom Robot Manipulator on a Moving Platform","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3026355291","doi":"https://doi.org/10.1109/cis-ram47153.2019.9095787","mag":"3026355291"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram47153.2019.9095787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5082247652","display_name":"Yu\u2010Chen Lin","orcid":"https://orcid.org/0000-0002-6735-0473"},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-Chen Lin","raw_affiliation_strings":["Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032009148","display_name":"Chao-Chung Peng","orcid":"https://orcid.org/0000-0002-4068-0632"},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chao-Chung Peng","raw_affiliation_strings":["Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan","institution_ids":["https://openalex.org/I91807558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I91807558"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"512","last_page":"517"},"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":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9936000108718872,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8017216920852661},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5996602773666382},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5942992568016052},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5522701740264893},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5436798930168152},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.525231122970581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.519971489906311},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4953095018863678},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4856066107749939},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4751600921154022},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.47221308946609497},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46496254205703735},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.46201932430267334},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4404154419898987},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4130095839500427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40176689624786377},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31437259912490845},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20563825964927673},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15952709317207336},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06883600354194641}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8017216920852661},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5996602773666382},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5942992568016052},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5522701740264893},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5436798930168152},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.525231122970581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.519971489906311},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4953095018863678},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4856066107749939},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4751600921154022},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.47221308946609497},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46496254205703735},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.46201932430267334},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4404154419898987},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4130095839500427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40176689624786377},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31437259912490845},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20563825964927673},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15952709317207336},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06883600354194641},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram47153.2019.9095787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram47153.2019.9095787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1558446093","https://openalex.org/W1842017619","https://openalex.org/W1969029410","https://openalex.org/W2016416994","https://openalex.org/W2069950146","https://openalex.org/W2074433305","https://openalex.org/W2087070363","https://openalex.org/W2096555931","https://openalex.org/W2129165027","https://openalex.org/W2142300857","https://openalex.org/W2146097584","https://openalex.org/W2159806973","https://openalex.org/W2166513231","https://openalex.org/W2186718276","https://openalex.org/W2256578114","https://openalex.org/W2317416317","https://openalex.org/W2323226228","https://openalex.org/W2588811192","https://openalex.org/W2788106020","https://openalex.org/W4246670428","https://openalex.org/W6633577672","https://openalex.org/W6686767413"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W3030642493","https://openalex.org/W1969999327","https://openalex.org/W4283266117","https://openalex.org/W3126987580","https://openalex.org/W2607470227","https://openalex.org/W3040474838","https://openalex.org/W3016367173"],"abstract_inverted_index":{"For":[0,120],"general":[1,91],"robot":[2,22,169,176],"arm":[3],"applications,":[4,71],"the":[5,8,17,53,67,116,129,132,142,149,157,173],"base":[6],"of":[7,52,93,128,166],"manipulator":[9],"is":[10,24,86,102,112,160],"equipped":[11,36],"on":[12,37,57,178],"a":[13,58,90,121,126,179],"fixed":[14],"platform.":[15,181],"However,":[16],"demand":[18],"for":[19,28,114,175],"high":[20,68],"mobility":[21,69],"control":[23,70,101,177],"increasing":[25],"dramatically":[26],"especially":[27],"intelligent":[29],"factory":[30],"automation.":[31],"The":[32,98],"robotics":[33],"are":[34,138],"usually":[35,73],"certain":[38],"moving":[39,59,130,180],"platforms":[40],"such":[41,66,145],"as":[42,104,146],"multi-axis":[43],"motion":[44],"stages":[45],"or":[46],"autonomous":[47],"ground":[48],"vehicles.":[49],"Therefore,":[50],"controlling":[51],"end-effector":[54],"(EE)":[55],"position":[56,100],"platform":[60],"will":[61],"be":[62],"challenging.":[63],"To":[64,78],"realize":[65],"it":[72],"involves":[74],"complicated":[75],"kinematics":[76,154],"computations.":[77],"deal":[79],"with":[80,141],"this":[81],"issue,":[82],"an":[83,105,109],"innovative":[84],"method":[85,159],"proposed":[87,150],"to":[88,163,171],"provide":[89],"solution":[92],"joint":[94,134],"space":[95],"command":[96,136],"generation.":[97],"EE":[99],"formulated":[103],"optimization":[106],"problem":[107],"and":[108,125],"iterative":[110],"algorithm":[111,151],"present":[113],"finding":[115],"local":[117],"optimal":[118],"solution.":[119],"given":[122],"target":[123],"point":[124],"pose":[127],"platform,":[131],"sub-optimal":[133],"angle":[135],"positions":[137],"generated.":[139],"Comparing":[140],"traditional":[143],"method,":[144],"inverse":[147],"kinematics,":[148],"avoids":[152],"complex":[153],"derivation.":[155],"Finally,":[156],"developed":[158],"further":[161],"extended":[162],"higher":[164],"degree":[165],"freedom":[167],"(HDOF)":[168],"manipulators":[170],"verify":[172],"feasibility":[174]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}