{"id":"https://openalex.org/W1562328486","doi":"https://doi.org/10.1109/icarcv.2002.1234829","title":"A unified approach to coordination planning and control of trajectories for robot manipulators","display_name":"A unified approach to coordination planning and control of trajectories for robot manipulators","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W1562328486","doi":"https://doi.org/10.1109/icarcv.2002.1234829","mag":"1562328486"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2002.1234829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","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/A5027738237","display_name":"Xuan F. Zha","orcid":"https://orcid.org/0000-0001-6322-6152"},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"X.F. Zha","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore","Singapore Inst. of Manuf. Technol., Nanyang Drive, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Singapore Inst. of Manuf. Technol., Nanyang Drive, Singapore","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100704656","display_name":"Xiaoqi Chen","orcid":"https://orcid.org/0000-0003-3227-4607"},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"X.Q. Chen","raw_affiliation_strings":["Singapore Institute of Manufacturing Technology, Singapore","Singapore Inst. of Manuf. Technol., Nanyang Drive, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]},{"raw_affiliation_string":"Singapore Inst. of Manuf. Technol., Nanyang Drive, Singapore","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8776,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.78760489,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"252","last_page":"257"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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/robot","display_name":"Robot","score":0.628073513507843},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6177470684051514},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5992620587348938},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5959087610244751},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5925666689872742},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5803109407424927},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5742931365966797},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5598484873771667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5392535924911499},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4803401231765747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4680459499359131},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41793692111968994},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3231789767742157},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2661147117614746},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25911372900009155},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23972684144973755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18300342559814453},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0631752610206604},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06091460585594177}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.628073513507843},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6177470684051514},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5992620587348938},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5959087610244751},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5925666689872742},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5803109407424927},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5742931365966797},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5598484873771667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5392535924911499},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4803401231765747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4680459499359131},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41793692111968994},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3231789767742157},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2661147117614746},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25911372900009155},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23972684144973755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18300342559814453},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0631752610206604},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06091460585594177},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"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/icarcv.2002.1234829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2002.1234829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1575054008","https://openalex.org/W1602403251","https://openalex.org/W1863022038","https://openalex.org/W1970412155","https://openalex.org/W2003025902","https://openalex.org/W2012342685","https://openalex.org/W2049410986","https://openalex.org/W2054875327","https://openalex.org/W2096471740","https://openalex.org/W2105293428","https://openalex.org/W2109510643","https://openalex.org/W2115091574","https://openalex.org/W2149186423","https://openalex.org/W2155330683","https://openalex.org/W2155612543","https://openalex.org/W2161346510","https://openalex.org/W2210217911","https://openalex.org/W4247782262","https://openalex.org/W4285719527","https://openalex.org/W4388322023","https://openalex.org/W6634426140"],"related_works":["https://openalex.org/W2766493616","https://openalex.org/W1979819035","https://openalex.org/W2124086581","https://openalex.org/W4210941726","https://openalex.org/W1854444597","https://openalex.org/W2139206564","https://openalex.org/W3204696515","https://openalex.org/W3016367173","https://openalex.org/W3135439126","https://openalex.org/W4242231179"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,56],"unified":[4,34],"approach":[5,126],"to":[6,119],"coordination":[7,65],"planning":[8,66],"and":[9,31,39,67,76,87,90,103,127,133],"control":[10,68,134],"of":[11,27,41,60,69,85,95,99,107,113,123,131],"trajectories":[12,71],"for":[13,36],"robot":[14,18,24,48,116],"manipulators.":[15],"The":[16,33,64,111],"generalized":[17],"pose":[19,49,70,79],"is":[20,44,53,72,117],"defined":[21],"as":[22,55],"the":[23,37,42,47,78,83,92,100,105,121,124,129],"configuration":[25,62],"consisting":[26],"both":[28],"its":[29,61],"position":[30,38],"orientation.":[32],"treatment":[35],"orientation":[40,101],"end-effector":[43],"based":[45],"on":[46],"ruled":[50,80],"surface":[51,81],"that":[52],"formed":[54],"3-D":[57],"motion":[58,93],"locus":[59],"vector.":[63],"accomplished":[73],"by":[74],"generating":[75],"optimizing":[77],"under":[82],"constraints":[84],"kinematics":[86],"dynamics":[88],"performances,":[89],"controlling":[91],"laws":[94],"two":[96],"end":[97],"points":[98],"vector":[102],"calculating":[104],"coordinates":[106],"instantaneous":[108],"corresponding":[109],"points.":[110],"simulation":[112],"Puma":[114],"560":[115],"given":[118],"verify":[120],"feasibility":[122],"proposed":[125],"demonstrate":[128],"capabilities":[130],"generation":[132],"models.":[135]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}