{"id":"https://openalex.org/W2005648923","doi":"https://doi.org/10.1109/iros.2013.6696711","title":"Integrated time-optimal trajectory planning and control design for industrial robot manipulator","display_name":"Integrated time-optimal trajectory planning and control design for industrial robot manipulator","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2005648923","doi":"https://doi.org/10.1109/iros.2013.6696711","mag":"2005648923"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696711","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5078338483","display_name":"Stepan Pchelkin","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Stepan S. Pchelkin","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044859972","display_name":"Anton Shiriaev","orcid":"https://orcid.org/0000-0002-9404-6442"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]},{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["NO","SE"],"is_corresponding":false,"raw_author_name":"Anton S. Shiriaev","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]},{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO","SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","[Dept. of Autom. Control, Lund Univ., Lund, Sweden]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]},{"raw_affiliation_string":"[Dept. of Autom. Control, Lund Univ., Lund, Sweden]","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042747240","display_name":"Leonid B. Freidovich","orcid":"https://orcid.org/0000-0003-0730-9441"},"institutions":[{"id":"https://openalex.org/I90267481","display_name":"Ume\u00e5 University","ror":"https://ror.org/05kb8h459","country_code":"SE","type":"education","lineage":["https://openalex.org/I90267481"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Leonid B. Freidovich","raw_affiliation_strings":["Department of Applied Physics and Electronics, Ume\u00e5 University, Ume\u00e5, Sweden","Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Physics and Electronics, Ume\u00e5 University, Ume\u00e5, Sweden","institution_ids":["https://openalex.org/I90267481"]},{"raw_affiliation_string":"Dept. of Appl. Phys. & Electron., Umea Univ., Umea, Sweden","institution_ids":["https://openalex.org/I90267481"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2521","last_page":"2526"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9980999827384949,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7988135814666748},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6527854204177856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6456363201141357},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6173808574676514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6030569076538086},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5414905548095703},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5386561751365662},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5270745158195496},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5172308087348938},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4511423110961914},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4490179419517517},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.44624584913253784},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4456103444099426},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43048399686813354},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4275577664375305},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.412632554769516},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2812309265136719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23264944553375244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22777381539344788},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19827130436897278},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1734786033630371},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08210486173629761}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7988135814666748},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6527854204177856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6456363201141357},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6173808574676514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6030569076538086},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5414905548095703},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5386561751365662},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5270745158195496},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5172308087348938},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4511423110961914},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4490179419517517},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.44624584913253784},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4456103444099426},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43048399686813354},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4275577664375305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.412632554769516},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2812309265136719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23264944553375244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22777381539344788},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19827130436897278},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1734786033630371},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08210486173629761},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696711","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1509235676","https://openalex.org/W1970412155","https://openalex.org/W2004406110","https://openalex.org/W2045992114","https://openalex.org/W2048603489","https://openalex.org/W2084828843","https://openalex.org/W2099454002","https://openalex.org/W2115091574","https://openalex.org/W2133582863","https://openalex.org/W2611243847","https://openalex.org/W4253134649"],"related_works":["https://openalex.org/W1593898832","https://openalex.org/W2142048021","https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2134075948","https://openalex.org/W2383529437","https://openalex.org/W1551235345","https://openalex.org/W2117921049","https://openalex.org/W2159353126","https://openalex.org/W4294956283"],"abstract_inverted_index":{"We":[0,52],"consider":[1],"planning":[2],"and":[3,67],"implementation":[4,132],"of":[5,46,107],"fast":[6],"motions":[7],"for":[8,26,120],"industrial":[9,82],"manipulators":[10],"constrained":[11],"to":[12,42,56],"a":[13,19,36,47,80,121],"given":[14],"geometric":[15],"path.":[16],"With":[17],"such":[18],"problem":[20],"formulation,":[21],"which":[22],"is":[23,32,97],"quite":[24],"reasonable":[25],"many":[27],"standard":[28,81],"operation":[29],"scenarios,":[30],"it":[31],"intuitively":[33],"clear":[34],"that":[35,99],"feedback":[37,124],"controller":[38,61],"should":[39],"be":[40],"designed":[41],"achieve":[43],"orbital":[44],"stabilization":[45],"time-optimal":[48],"trajectory":[49],"instead":[50],"asymptotic.":[51],"propose":[53],"an":[54,58,63,92],"algorithm":[55],"convert":[57],"asymptotically":[59],"stabilizing":[60,65],"into":[62],"orbitally":[64],"one":[66,114],"check":[68],"achievable":[69],"performance":[70],"in":[71,76],"simulations":[72],"and,":[73],"more":[74],"importantly,":[75],"experiments":[77],"performed":[78],"on":[79],"robot":[83],"ABB":[84,135],"IRB":[85],"140":[86],"with":[87,91],"the":[88,100,108,112,129],"IRC5-system":[89],"extended":[90],"open":[93],"control":[94],"interface.":[95],"It":[96],"verified":[98],"proposed":[101],"re-design":[102],"allows":[103],"significantly":[104],"reduced":[105],"deviations":[106],"actual":[109],"trajectories":[110],"from":[111],"desired":[113],"at":[115],"high":[116],"speeds":[117],"not":[118],"only":[119],"chosen":[122],"base":[123],"design":[125],"but":[126],"also":[127],"outperforming":[128],"state-of-the-art":[130],"commercial":[131],"offered":[133],"by":[134],"Robotics.":[136]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}