{"id":"https://openalex.org/W2021744226","doi":"https://doi.org/10.1109/robio.2013.6739692","title":"Approach to improve inverse kinematics and curve interpolation algorithm for 6R industrial robot","display_name":"Approach to improve inverse kinematics and curve interpolation algorithm for 6R industrial robot","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2021744226","doi":"https://doi.org/10.1109/robio.2013.6739692","mag":"2021744226"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739692","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 Robotics and Biomimetics (ROBIO)","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/A5075223865","display_name":"Haibin Wu","orcid":"https://orcid.org/0000-0002-1577-0468"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wu Haibin","raw_affiliation_strings":["Fuzhou University, Fuzhou, Fujian, China","Fuzhou Univ., Fuzhou (China)"],"affiliations":[{"raw_affiliation_string":"Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fuzhou Univ., Fuzhou (China)","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043267417","display_name":"Wu Guokui","orcid":null},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wu Guokui","raw_affiliation_strings":["Fuzhou University, Fuzhou, Fujian, China","Fuzhou Univ., Fuzhou (China)"],"affiliations":[{"raw_affiliation_string":"Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fuzhou Univ., Fuzhou (China)","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006578478","display_name":"Ting Wu","orcid":"https://orcid.org/0000-0002-3932-2803"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wu Ting","raw_affiliation_strings":["Fuzhou University, Fuzhou, Fujian, China","Fuzhou Univ., Fuzhou (China)"],"affiliations":[{"raw_affiliation_string":"Fuzhou University, Fuzhou, Fujian, China","institution_ids":["https://openalex.org/I80947539"]},{"raw_affiliation_string":"Fuzhou Univ., Fuzhou (China)","institution_ids":["https://openalex.org/I80947539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5075223865"],"corresponding_institution_ids":["https://openalex.org/I80947539"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10225762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"1580","last_page":"1585"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.9002482891082764},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7289342880249023},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.711036205291748},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6401234865188599},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6400461196899414},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5950157642364502},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5801509022712708},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5009708404541016},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4927356541156769},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4919566810131073},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.47516414523124695},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4632393717765808},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.46153080463409424},{"id":"https://openalex.org/keywords/linear-interpolation","display_name":"Linear interpolation","score":0.45378798246383667},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.41672131419181824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39251649379730225},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38643553853034973},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36689406633377075},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3582039475440979},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3316444158554077},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16935983300209045},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15333199501037598}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.9002482891082764},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7289342880249023},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.711036205291748},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6401234865188599},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6400461196899414},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5950157642364502},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5801509022712708},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5009708404541016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4927356541156769},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4919566810131073},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.47516414523124695},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4632393717765808},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.46153080463409424},{"id":"https://openalex.org/C171836373","wikidata":"https://www.wikidata.org/wiki/Q2266329","display_name":"Linear interpolation","level":3,"score":0.45378798246383667},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.41672131419181824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39251649379730225},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38643553853034973},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36689406633377075},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3582039475440979},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3316444158554077},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16935983300209045},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15333199501037598},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739692","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 Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W639663576","https://openalex.org/W1558446093","https://openalex.org/W1974239911","https://openalex.org/W2047161671","https://openalex.org/W2098596651","https://openalex.org/W2149186423","https://openalex.org/W2359880939","https://openalex.org/W2368008587","https://openalex.org/W6620754109","https://openalex.org/W6706836513"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W2351331567","https://openalex.org/W4256303909","https://openalex.org/W2058205375","https://openalex.org/W2138377666","https://openalex.org/W2355067942","https://openalex.org/W4360878639"],"abstract_inverted_index":{"Solutions":[0],"of":[1,20,27,40,78,89],"inverse":[2,33],"kinematics":[3,34],"is":[4],"important":[5],"for":[6],"a":[7,14,62],"vertical-six-joint":[8],"industrial":[9],"robot.":[10],"This":[11],"paper":[12],"proposes":[13],"method":[15],"based":[16],"on":[17],"the":[18,21,24,28,56,76,79,87],"characteristics":[19],"solutions":[22,35,54],"and":[23,43,60,82,92],"geometric":[25],"structure":[26],"robot":[29,57,90],"to":[30],"obtain":[31],"proper":[32],"without":[36],"calculating":[37],"all":[38],"sets":[39],"solutions.":[41],"Position":[42],"orientation":[44],"interpolation":[45],"are":[46],"combined":[47],"together":[48],"in":[49,65],"curve":[50],"interpolation.":[51],"The":[52,72],"optimized":[53],"makes":[55],"move":[58],"smoothly":[59],"avoid":[61],"sudden":[63],"change":[64],"joint":[66],"angles":[67],"during":[68],"its":[69],"trajectory":[70],"tracking.":[71],"experimental":[73],"results":[74],"verified":[75],"effectiveness":[77],"proposed":[80],"methods":[81],"showed":[83],"that":[84],"they":[85],"make":[86],"motion":[88],"smooth":[91],"accurate.":[93]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}