{"id":"https://openalex.org/W2137830675","doi":"https://doi.org/10.1109/icra.2011.5979646","title":"Real-time motion planning for the macro-micro parallel manipulator system","display_name":"Real-time motion planning for the macro-micro parallel manipulator system","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2137830675","doi":"https://doi.org/10.1109/icra.2011.5979646","mag":"2137830675"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5076931092","display_name":"Xuechao Duan","orcid":"https://orcid.org/0000-0001-8029-5416"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"XueChao Duan","raw_affiliation_strings":["Department of Electrical Engineering, Xidian University, Xi'an, China","Department of Electrical Engineering, Xidian University, 710071 Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Department of Electrical Engineering, Xidian University, 710071 Xi'an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057728337","display_name":"Yuanying Qiu","orcid":"https://orcid.org/0000-0002-8002-6803"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanying Qiu","raw_affiliation_strings":["School of Electromechanical Engineering, Xidian University, Xi'an, China","School of Electromechanical Engineering, Xidian University, 710071 Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"School of Electromechanical Engineering, Xidian University, 710071 Xi'an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010418672","display_name":"Jingli Du","orcid":null},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingli Du","raw_affiliation_strings":["Department of Industrial Design, Xidian University, Xi'an, China","Department of Industrial Design, Xidian University, 710071 Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Design, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Department of Industrial Design, Xidian University, 710071 Xi'an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101567781","display_name":"Ze Zhao","orcid":"https://orcid.org/0000-0003-4862-0949"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ze Zhao","raw_affiliation_strings":["Department of Industrial Design, Xidian University, Xi'an, China","Department of Industrial Design, Xidian University, 710071 Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Design, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Department of Industrial Design, Xidian University, 710071 Xi'an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109093008","display_name":"Qingjuan Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingjuan Duan","raw_affiliation_strings":["Department of Electromechanical Engineering, Xidian University, Xi'an, China","Department of Electromechanical Engineering, Xidian University, 710071 Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"Department of Electromechanical Engineering, Xidian University, 710071 Xi'an, China","institution_ids":["https://openalex.org/I149594827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I149594827"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"4214","last_page":"4219"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9950000047683716,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/macro","display_name":"Macro","score":0.6791543960571289},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6689051389694214},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5974090099334717},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5483532547950745},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5109321475028992},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4937158524990082},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33392542600631714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27395206689834595},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20319393277168274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14874032139778137},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07409438490867615}],"concepts":[{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.6791543960571289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6689051389694214},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5974090099334717},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5483532547950745},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5109321475028992},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4937158524990082},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33392542600631714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27395206689834595},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20319393277168274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14874032139778137},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07409438490867615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323230","display_name":"Xidian University","ror":"https://ror.org/05s92vm98"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W272010763","https://openalex.org/W1967030176","https://openalex.org/W1988011911","https://openalex.org/W2005936985","https://openalex.org/W2024238472","https://openalex.org/W2039157407","https://openalex.org/W2045191971","https://openalex.org/W2053411443","https://openalex.org/W2053674295","https://openalex.org/W2062691475","https://openalex.org/W2083563685","https://openalex.org/W2093263941","https://openalex.org/W2095623529","https://openalex.org/W2142477169","https://openalex.org/W2143169357","https://openalex.org/W2473945722"],"related_works":["https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2038930466","https://openalex.org/W2376007266","https://openalex.org/W2067594477","https://openalex.org/W2385739135","https://openalex.org/W1981988083","https://openalex.org/W2394251694"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,49,111,118],"achieve":[3],"the":[4,9,32,38,43,50,56,63,69,74,78,85,90,98,102,113,125,129,138],"high":[5,126],"motion":[6,21,139],"precision":[7,127],"of":[8,37,52,73,77,84,97,101,128],"macro-micro":[10,130],"parallel":[11,41,80,87,115,131],"manipulator":[12,88,116,132],"system":[13,133],"for":[14],"a":[15,95],"large":[16],"radio":[17],"telescope,":[18],"its":[19],"real-time":[20,44],"planning":[22],"is":[23,46,109],"dealt":[24],"with":[25,134],"in":[26,55],"this":[27],"paper.":[28],"To":[29],"uniquely":[30],"determine":[31],"spatial":[33],"position":[34],"and":[35,62,65,71,137],"orientation":[36],"cable":[39],"driven":[40],"manipulator,":[42],"optimization":[45],"conducted":[47],"according":[48],"principle":[51],"uniform":[53],"tension":[54],"six":[57],"driving":[58],"cables.":[59],"Synchronized":[60],"points":[61],"\u201cjudge":[64],"wait\u201d":[66],"mechanism":[67],"ensure":[68],"continuity":[70],"synchrony":[72],"trajectory":[75],"tracking":[76],"two":[79],"manipulators.":[81],"The":[82],"preadjustment":[83],"micro":[86,103,114],"reduces":[89],"drastic":[91],"dynamical":[92],"coupling":[93],"as":[94],"result":[96],"fast":[99],"movement":[100],"manipulator.":[104],"Besides,":[105],"over-workspace":[106],"avoidance":[107],"procedure":[108],"introduced":[110],"restrict":[112],"not":[117],"exceed":[119],"it":[120],"workspace.":[121],"Experimental":[122],"results":[123],"validate":[124],"supervisory":[135],"controller":[136],"prediction":[140],"algorithm.":[141]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}