{"id":"https://openalex.org/W3216267076","doi":"https://doi.org/10.1109/crc52766.2021.9620143","title":"Time Optimal Trajectory Planning Based on Redundant Manipulator","display_name":"Time Optimal Trajectory Planning Based on Redundant Manipulator","publication_year":2021,"publication_date":"2021-10-09","ids":{"openalex":"https://openalex.org/W3216267076","doi":"https://doi.org/10.1109/crc52766.2021.9620143","mag":"3216267076"},"language":"en","primary_location":{"id":"doi:10.1109/crc52766.2021.9620143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620143","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","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/A5065722879","display_name":"Chaoyang Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chaoyang Ma","raw_affiliation_strings":["The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356824","display_name":"Yun Zhang","orcid":"https://orcid.org/0000-0002-8085-3454"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Zhang","raw_affiliation_strings":["The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033963494","display_name":"Shuo Cheng","orcid":"https://orcid.org/0000-0002-5410-9170"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Cheng","raw_affiliation_strings":["The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065722879"],"corresponding_institution_ids":["https://openalex.org/I2800372957"],"apc_list":null,"apc_paid":null,"fwci":0.6867,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.70300125,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"125","last_page":"129"},"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":0.9970999956130981,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9876000285148621,"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/trajectory","display_name":"Trajectory","score":0.8685492277145386},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.7072291374206543},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6906489133834839},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6778116822242737},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6275486946105957},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.585226833820343},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.493294894695282},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.45141130685806274},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4045223891735077},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25104042887687683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2379942238330841},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18421638011932373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11498421430587769}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8685492277145386},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.7072291374206543},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6906489133834839},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6778116822242737},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6275486946105957},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.585226833820343},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.493294894695282},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.45141130685806274},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4045223891735077},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25104042887687683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2379942238330841},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18421638011932373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11498421430587769},{"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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc52766.2021.9620143","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620143","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1558932215","https://openalex.org/W1988543053","https://openalex.org/W1994843712","https://openalex.org/W2001601792","https://openalex.org/W2115091574","https://openalex.org/W2122761880","https://openalex.org/W2333960394"],"related_works":["https://openalex.org/W2393977490","https://openalex.org/W2038930466","https://openalex.org/W1997122515","https://openalex.org/W2166323405","https://openalex.org/W2366856298","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W2072869912","https://openalex.org/W2385739135","https://openalex.org/W1981988083"],"abstract_inverted_index":{"A":[0],"time-optimal":[1],"trajectory":[2,27,50,78],"planning":[3],"algorithm":[4,31],"based":[5,21],"on":[6,22],"redundant":[7],"manipulator":[8,61],"is":[9,32],"proposed.":[10],"In":[11],"order":[12],"to":[13,34],"improve":[14],"the":[15,19,23,29,36,39,45,52,60,73,77],"operation":[16,41,49],"efficiency":[17],"of":[18,76],"manipulator,":[20],"traditional":[24],"high-order":[25],"polynomial":[26],"planning,":[28],"genetic":[30],"used":[33],"optimize":[35],"time,":[37,42],"shorten":[38],"total":[40],"and":[43,47,66],"obtain":[44],"smooth":[46],"continuous":[48],"satisfying":[51],"kinematic":[53],"constraints.":[54],"The":[55],"experimental":[56],"results":[57],"show":[58],"that":[59],"runs":[62],"smoothly":[63],"without":[64],"vibration":[65],"maintains":[67],"good":[68],"motion":[69],"performance,":[70],"which":[71],"verifies":[72],"effective":[74],"feasibility":[75],"algorithm.":[79]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
