{"id":"https://openalex.org/W2786728366","doi":"https://doi.org/10.1109/iccis.2017.8274789","title":"Optimal coordinated planning strategy for space robots grasping targets","display_name":"Optimal coordinated planning strategy for space robots grasping targets","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2786728366","doi":"https://doi.org/10.1109/iccis.2017.8274789","mag":"2786728366"},"language":"en","primary_location":{"id":"doi:10.1109/iccis.2017.8274789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274789","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 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/A5100327524","display_name":"Xin Zhang","orcid":"https://orcid.org/0000-0002-8454-8414"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhang","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060877237","display_name":"Jinguo Liu","orcid":"https://orcid.org/0000-0002-6790-6582"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jinguo Liu","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","Imperial College London, The Hamlyn Centre, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Imperial College London, The Hamlyn Centre, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101678348","display_name":"Jindong Liu","orcid":"https://orcid.org/0000-0003-0594-373X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jindong Liu","raw_affiliation_strings":["Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","Imperial College London, The Hamlyn Centre, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences, Shenyang Institute of Automation, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Imperial College London, The Hamlyn Centre, London, UK","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2085905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"288","last_page":"293"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10406","display_name":"Planetary Science and Exploration","score":0.9751999974250793,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10325","display_name":"Astro and Planetary Science","score":0.9704999923706055,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.7680983543395996},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6404502987861633},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6283626556396484},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6222817897796631},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5251914262771606},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5185211896896362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5143900513648987},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44922393560409546},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4247717559337616},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4159027934074402},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4124009609222412},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37808340787887573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35697516798973083},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1438049077987671},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.138839453458786}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7680983543395996},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6404502987861633},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6283626556396484},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6222817897796631},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5251914262771606},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5185211896896362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5143900513648987},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44922393560409546},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4247717559337616},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4159027934074402},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4124009609222412},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37808340787887573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35697516798973083},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1438049077987671},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.138839453458786},{"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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccis.2017.8274789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274789","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 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":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1964806465","https://openalex.org/W1997752220","https://openalex.org/W2005265972","https://openalex.org/W2024882308","https://openalex.org/W2030186985","https://openalex.org/W2063984443","https://openalex.org/W2077735765","https://openalex.org/W2081462310","https://openalex.org/W2090308161","https://openalex.org/W2099442362","https://openalex.org/W2105229687","https://openalex.org/W2111340501","https://openalex.org/W2114006755","https://openalex.org/W2128923571","https://openalex.org/W2179186822","https://openalex.org/W2325316234","https://openalex.org/W2543580944","https://openalex.org/W2758538410","https://openalex.org/W4232097448","https://openalex.org/W4300106150","https://openalex.org/W6676947459","https://openalex.org/W6682642761"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"The":[0],"task":[1,188],"of":[2,42,54,108,118,132,169,215],"capturing":[3],"a":[4,8,25,50,63,216],"space":[5,9,85,165,217],"target":[6,221],"using":[7],"robot":[10,22,113,218],"carrying":[11],"robotic":[12],"manipulators":[13],"can":[14,209],"be":[15],"divided":[16],"into":[17],"two":[18,213],"phases:":[19],"controlling":[20],"the":[21,30,35,39,43,55,59,67,91,96,105,109,112,116,119,122,129,133,139,146,159,163,167,170,174,178,185,193,197,205,212,223],"to":[23,37,57,61,87,102,127,144,157,166,191,219],"reach":[24,62],"desired":[26,64],"berth":[27,68,98,140,198],"position":[28,69,99,141],"near":[29],"floating":[31],"target,":[32],"and":[33,95,111,135,137,173,180,196],"manipulating":[34],"manipulator":[36,56,123],"grasp":[38,88,220],"target.":[40],"Most":[41],"existing":[44],"planning":[45,53,82,107,187,207],"strategies":[46],"only":[47],"focus":[48],"on":[49,177],"point-to-point":[51],"trajectory":[52],"ensure":[58],"end-effector":[60,110,134],"pose,":[65],"while":[66],"is":[70,124,142,155,189],"usually":[71],"set":[72],"manually.":[73],"In":[74],"this":[75],"paper,":[76],"we":[77],"propose":[78],"an":[79],"optimal":[80],"coordinated":[81,106],"strategy":[83,208],"for":[84],"robots":[86],"targets.":[89],"Both":[90],"manipulator's":[92],"joint":[93,164,194],"trajectories":[94,195],"robot's":[97],"are":[100],"considered":[101],"autonomously":[103],"accomplish":[104],"base.":[114,175],"From":[115],"perspective":[117],"task-space":[120],"constraints,":[121],"first":[125],"planned":[126,143],"satisfy":[128],"attitude":[130,168],"constraints":[131],"base,":[136],"then":[138],"meet":[145],"end-effector's":[147],"position.":[148,199],"A":[149],"Modified":[150],"Generalized":[151],"Jacobian":[152],"Matrix":[153],"(MGJM)":[154],"proposed":[156,206],"describe":[158],"velocity":[160],"mapping":[161],"from":[162],"end":[171],"effector":[172],"Based":[176],"MGJM":[179],"Particle":[181],"Swarm":[182],"Optimization":[183],"(PSO),":[184],"whole":[186],"turned":[190],"optimize":[192],"Simulated":[200],"experiments":[201],"have":[202],"verified":[203],"that":[204],"successfully":[210],"automate":[211],"phases":[214],"in":[222],"space.":[224]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}