{"id":"https://openalex.org/W4403094401","doi":"https://doi.org/10.1109/lra.2024.3474521","title":"Pose and Path Planning for Industrial Robot Surface Machining Based on Direction Fields","display_name":"Pose and Path Planning for Industrial Robot Surface Machining Based on Direction Fields","publication_year":2024,"publication_date":"2024-10-03","ids":{"openalex":"https://openalex.org/W4403094401","doi":"https://doi.org/10.1109/lra.2024.3474521"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3474521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3474521","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5102862440","display_name":"Lei Wu","orcid":"https://orcid.org/0009-0006-0663-9560"},"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":"Lei Wu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0009-0006-0663-9560","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043336501","display_name":"Xizhe Zang","orcid":"https://orcid.org/0000-0002-5124-3999"},"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":"Xizhe Zang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5124-3999","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053575928","display_name":"Wenxin Yin","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":"Wenxin Yin","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065798768","display_name":"Xuehe Zhang","orcid":"https://orcid.org/0000-0001-8138-2802"},"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":"Xuehe Zhang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-8138-2802","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115781184","display_name":"Changle Li","orcid":"https://orcid.org/0000-0002-2587-0454"},"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":"Changle Li","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-2587-0454","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054543629","display_name":"Yanhe Zhu","orcid":"https://orcid.org/0000-0002-1960-6278"},"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":"Yanhe Zhu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1960-6278","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069459810","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"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":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":2.1022,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86239565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"9","issue":"11","first_page":"10455","last_page":"10462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9955000281333923,"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":0.9923999905586243,"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/machining","display_name":"Machining","score":0.7453083992004395},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6021653413772583},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5640647411346436},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5342388153076172},{"id":"https://openalex.org/keywords/tool-path","display_name":"Tool path","score":0.47091174125671387},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45925068855285645},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4587777554988861},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40809962153434753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38929370045661926},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3594423532485962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33763718605041504},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32476240396499634},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16734793782234192},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1085290014743805}],"concepts":[{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.7453083992004395},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6021653413772583},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5640647411346436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5342388153076172},{"id":"https://openalex.org/C3019099447","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Tool path","level":3,"score":0.47091174125671387},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45925068855285645},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4587777554988861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40809962153434753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38929370045661926},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3594423532485962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33763718605041504},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32476240396499634},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16734793782234192},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1085290014743805},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3474521","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3474521","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[{"id":"https://openalex.org/G7616631648","display_name":null,"funder_award_id":"52025054","funder_id":"https://openalex.org/F4320333688","funder_display_name":"National Outstanding Youth Science Fund Project of National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320333688","display_name":"National Outstanding Youth Science Fund Project of National Natural Science Foundation of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1840611248","https://openalex.org/W1969861458","https://openalex.org/W1982968486","https://openalex.org/W1986573745","https://openalex.org/W2020909219","https://openalex.org/W2024146632","https://openalex.org/W2031154019","https://openalex.org/W2053874883","https://openalex.org/W2054607036","https://openalex.org/W2074610601","https://openalex.org/W2548756185","https://openalex.org/W2590805326","https://openalex.org/W2605554001","https://openalex.org/W2746836818","https://openalex.org/W2883385699","https://openalex.org/W2943522757","https://openalex.org/W2974077201","https://openalex.org/W2996595437","https://openalex.org/W2998702527","https://openalex.org/W3121118088","https://openalex.org/W3174273487","https://openalex.org/W3200598593","https://openalex.org/W4205750219","https://openalex.org/W4281990321","https://openalex.org/W4291010595","https://openalex.org/W4293255258","https://openalex.org/W4293282490","https://openalex.org/W4320521843","https://openalex.org/W4368407487","https://openalex.org/W4378418107","https://openalex.org/W4384831540","https://openalex.org/W6801504251"],"related_works":["https://openalex.org/W2677531174","https://openalex.org/W2375019240","https://openalex.org/W2359600231","https://openalex.org/W2954715990","https://openalex.org/W3133903107","https://openalex.org/W2380019117","https://openalex.org/W2075697616","https://openalex.org/W2355460407","https://openalex.org/W3138952546","https://openalex.org/W1987886368"],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"a":[3,52,87,93,101,119],"pose":[4,54,67,80],"and":[5,26,36,41,109,141,175],"path":[6,28,88,165],"planning":[7,29,55,89],"method":[8,45,56,90,135,161],"based":[9,91],"on":[10,74,92],"direction":[11],"fields,":[12],"addressing":[13],"challenges":[14,21],"in":[15],"industrial":[16],"robot":[17,66],"surface":[18],"machining.":[19],"These":[20],"include":[22],"limited":[23],"machining":[24,62,84,127,139,157,177],"accuracy":[25],"difficult":[27],"arising":[30],"from":[31],"the":[32,70,75,106,114,126,133],"robot's":[33,107],"low":[34],"stiffness":[35],"high":[37,169,172,176],"nonlinearity":[38],"between":[39,82],"joint":[40],"operational":[42],"spaces.":[43],"The":[44,98,129,159],"consists":[46],"of":[47,60],"two":[48],"key":[49],"components.":[50],"Firstly,":[51],"smooth":[53,71,79,138],"is":[57,96],"proposed,":[58],"independent":[59],"specific":[61,181],"paths.":[63,128,158],"It":[64],"guides":[65],"by":[68,104,179],"constructing":[69],"1-direction":[72],"field":[73,95,103,116],"freeform":[76],"surface,":[77],"ensuring":[78],"transitions":[81],"adjacent":[83],"points.":[85],"Secondly,":[86],"2-direction":[94,102,115,182],"proposed.":[97],"approach":[99],"generates":[100],"considering":[105],"performance":[108],"task":[110],"requirements.":[111],"After":[112],"integrating":[113],"to":[117,153],"obtain":[118],"scalar":[120],"field,":[121],"iso-lines":[122],"are":[123],"extracted":[124],"as":[125,168],"results":[130],"demonstrate":[131],"that":[132],"proposed":[134,160],"can":[136],"generate":[137,154],"poses":[140],"continuous":[142],"paths,":[143],"even":[144],"for":[145],"complex":[146],"surfaces":[147],"where":[148],"other":[149],"methods":[150],"may":[151],"fail":[152],"fully":[155],"reachable":[156],"could":[162],"achieve":[163],"different":[164],"performances,":[166],"such":[167],"manipulator-velocity-ratio":[170],"(MVR),":[171],"tangential":[173],"stiffness,":[174],"efficiency,":[178],"tracking":[180],"fields.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}