{"id":"https://openalex.org/W1978933080","doi":"https://doi.org/10.1109/icinfa.2013.6720328","title":"Application of orientation interpolation of robot using unit quaternion","display_name":"Application of orientation interpolation of robot using unit quaternion","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W1978933080","doi":"https://doi.org/10.1109/icinfa.2013.6720328","mag":"1978933080"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2013.6720328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2013.6720328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Information and Automation (ICIA)","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/A5023674699","display_name":"Minxiu Kong","orcid":"https://orcid.org/0000-0001-6324-3796"},"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":"Min-Xiu Kong","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101940672","display_name":"Chen Ji","orcid":"https://orcid.org/0000-0002-8489-2362"},"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":"Chen Ji","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006845889","display_name":"Zheng-Sheng Chen","orcid":null},"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":"Zheng-Sheng Chen","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100639939","display_name":"Ruifeng Li","orcid":"https://orcid.org/0000-0002-1383-7745"},"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":"Rui-feng Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023674699"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.06271732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9995999932289124,"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":0.9977999925613403,"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":0.7119770050048828},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6343623995780945},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5912220478057861},{"id":"https://openalex.org/keywords/euler-angles","display_name":"Euler angles","score":0.5463197827339172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46883219480514526},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45212554931640625},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.447244793176651},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44126972556114197},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4408227801322937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4374184012413025},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.43240439891815186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42007261514663696},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4031147360801697},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17107629776000977},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.09609296917915344},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0865214467048645}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7119770050048828},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6343623995780945},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5912220478057861},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.5463197827339172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46883219480514526},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45212554931640625},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.447244793176651},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44126972556114197},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4408227801322937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4374184012413025},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.43240439891815186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42007261514663696},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4031147360801697},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17107629776000977},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.09609296917915344},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0865214467048645},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2013.6720328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2013.6720328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W76980395","https://openalex.org/W2032542754","https://openalex.org/W2068088498","https://openalex.org/W2147774191","https://openalex.org/W2159721734","https://openalex.org/W2372807776"],"related_works":["https://openalex.org/W2567375923","https://openalex.org/W3108645772","https://openalex.org/W2330784347","https://openalex.org/W2102036932","https://openalex.org/W2076146791","https://openalex.org/W2965979218","https://openalex.org/W1957657662","https://openalex.org/W1976285134","https://openalex.org/W1575685434","https://openalex.org/W1490500322"],"abstract_inverted_index":{"Orientation":[0],"interpolation":[1,26,32,146],"has":[2,73],"a":[3,30,106,111],"great":[4],"effect":[5],"on":[6,37,110],"the":[7,13,60,69,74,100,103,136,142],"performance":[8],"of":[9,21,27,47,68,81,102,114,126,144,147],"industrial":[10,28,118,148],"robot.":[11,149],"Considering":[12],"singularity":[14],"and":[15,72,79,123],"unnatural":[16],"rotation":[17],"which":[18,34,63],"are":[19],"drawbacks":[20],"Euler":[22],"angles":[23],"in":[24,141],"orientation":[25,48,61,70,104,145],"robot,":[29,82],"novel":[31],"method":[33],"is":[35,139],"based":[36,109],"unit":[38,55,90],"quaternion":[39,56,91],"was":[40,57,128],"presented.":[41],"To":[42,98],"achieve":[43],"high":[44],"order":[45],"smoothness":[46],"movement,":[49],"sine-jerk":[50],"trajectory":[51,71],"planning":[52],"combined":[53],"with":[54,89],"developed":[58],"for":[59],"interpolation,":[62],"could":[64],"guarantee":[65],"C3":[66],"continuity":[67],"potentials":[75],"to":[76],"control":[77],"velocity":[78],"acceleration":[80],"while":[83],"traditional":[84],"Spherical":[85],"Linear":[86],"Interpolation":[87],"(SLERP)":[88],"can":[92],"only":[93],"generates":[94],"C1":[95],"continuous":[96],"trajectory.":[97],"test":[99],"validity":[101],"algorithms,":[105],"simulation":[107,132],"platform":[108],"6-DOF":[112],"(degree":[113],"freedom)":[115],"arc":[116],"welding":[117],"robot":[119,127],"including":[120],"inverse":[121,124],"kinematic":[122],"dynamic":[125],"built":[129],"up.":[130],"The":[131],"results":[133],"indicated":[134],"that":[135],"proposed":[137],"approach":[138],"effective":[140],"application":[143]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
