{"id":"https://openalex.org/W2113042717","doi":"https://doi.org/10.1109/iros.2011.6094859","title":"Trajectory planning and current control optimization of three degree-of-freedom spherical actuator","display_name":"Trajectory planning and current control optimization of three degree-of-freedom spherical actuator","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2113042717","doi":"https://doi.org/10.1109/iros.2011.6094859","mag":"2113042717"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094859","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5100425268","display_name":"Liang Zhang","orcid":"https://orcid.org/0000-0003-1566-4902"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liang Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026365889","display_name":"Weihai Chen","orcid":"https://orcid.org/0000-0001-7912-4505"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihai Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772253","display_name":"Liang Yan","orcid":"https://orcid.org/0000-0001-9099-240X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Yan","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068984195","display_name":"Jingmeng Liu","orcid":"https://orcid.org/0000-0001-6822-2812"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingmeng Liu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"[School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China]","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100425268"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":2.116,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.85923363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"744","last_page":"749"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9991999864578247,"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":0.9962000250816345,"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/control-theory","display_name":"Control theory (sociology)","score":0.730778157711029},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7106025815010071},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6524021029472351},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.643169105052948},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6350811719894409},{"id":"https://openalex.org/keywords/rotor","display_name":"Rotor (electric)","score":0.5893383622169495},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5636097192764282},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5153209567070007},{"id":"https://openalex.org/keywords/current","display_name":"Current (fluid)","score":0.4514901638031006},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4360828101634979},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27189671993255615},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22803175449371338},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18356475234031677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11399731040000916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10728758573532104}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.730778157711029},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7106025815010071},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6524021029472351},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.643169105052948},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6350811719894409},{"id":"https://openalex.org/C17281054","wikidata":"https://www.wikidata.org/wiki/Q193466","display_name":"Rotor (electric)","level":2,"score":0.5893383622169495},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5636097192764282},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5153209567070007},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.4514901638031006},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4360828101634979},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27189671993255615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22803175449371338},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18356475234031677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11399731040000916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10728758573532104},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094859","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1510918013","https://openalex.org/W1590346627","https://openalex.org/W1992982811","https://openalex.org/W2004565437","https://openalex.org/W2021041239","https://openalex.org/W2032156654","https://openalex.org/W2052822248","https://openalex.org/W2094862909","https://openalex.org/W2095278275","https://openalex.org/W2100437863","https://openalex.org/W2106233780","https://openalex.org/W2113698875","https://openalex.org/W2122773513","https://openalex.org/W2141241787","https://openalex.org/W2146916859","https://openalex.org/W2151394936","https://openalex.org/W2163168124","https://openalex.org/W2166785907","https://openalex.org/W2170091979","https://openalex.org/W4238540086","https://openalex.org/W6635401351"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2555022781","https://openalex.org/W3101820272"],"abstract_inverted_index":{"The":[0,111],"study":[1],"in":[2,19,74,108],"this":[3,109],"paper":[4],"covers":[5],"torque":[6,123,127],"modeling,":[7],"trajectory":[8,63,119],"planning":[9,29,64],"and":[10,38,76,89,106,125],"optimization":[11,77],"control":[12],"of":[13,16,40,53,65,69,79,94],"current":[14,80,130],"input":[15,81],"spherical":[17,70],"actuators,":[18],"which":[20],"the":[21,25,36,62,86,90,103,118,121,126,136],"latter":[22],"two":[23],"are":[24],"major":[26],"contributions.":[27],"Trajectory":[28],"is":[30,58,72,82,97],"an":[31],"effective":[32],"way":[33],"to":[34,60,84,101,134,138],"improve":[35,85],"smoothness":[37],"stability":[39],"rotor":[41,137],"motions.":[42,141],"A":[43],"novel":[44],"three-dimensional":[45],"(3D)":[46],"orientation":[47],"representation":[48],"method":[49,105],"based":[50],"on":[51],"manifold":[52],"S":[54],"<sup":[55],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[56],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[57],"proposed":[59,104],"facilitate":[61],"rotor.":[66],"Current":[67],"redundancy":[68],"actuator":[71],"analyzed":[73],"detail,":[75],"algorithm":[78,107],"developed":[83],"power":[87],"efficiency":[88],"fault":[91],"tolerance":[92],"capability":[93],"system.":[95],"Simulation":[96],"then":[98],"carried":[99],"out":[100],"validate":[102],"study.":[110],"simulation":[112],"results":[113],"indicate":[114],"that":[115],"by":[116],"using":[117],"planning,":[120],"given":[122],"values":[124],"model,":[128],"optimal":[129],"could":[131],"be":[132],"obtained":[133],"drive":[135],"achieve":[139],"desired":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}