{"id":"https://openalex.org/W2036354252","doi":"https://doi.org/10.1109/robio.2013.6739817","title":"Smooth and near time-optimal trajectory planning of robotic manipulator with smooth constraint based on cubic B-spline","display_name":"Smooth and near time-optimal trajectory planning of robotic manipulator with smooth constraint based on cubic B-spline","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2036354252","doi":"https://doi.org/10.1109/robio.2013.6739817","mag":"2036354252"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739817","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/A5023674699","display_name":"Minxiu Kong","orcid":"https://orcid.org/0000-0001-6324-3796"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"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":true,"raw_author_name":"Min-xiu Kong","raw_affiliation_strings":["Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","Harbin Institute of Technology Harbin, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Harbin Institute of Technology Harbin, China#TAB#","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101940672","display_name":"Chen Ji","orcid":"https://orcid.org/0000-0002-8489-2362"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"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":"Chen Ji","raw_affiliation_strings":["Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","Harbin Institute of Technology Harbin, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Harbin Institute of Technology Harbin, China#TAB#","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057980417","display_name":"Zhengsheng Chen","orcid":"https://orcid.org/0000-0003-3430-1357"},"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"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng-sheng Chen","raw_affiliation_strings":["Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","Harbin Institute of Technology Harbin, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Harbin Institute of Technology Harbin, China#TAB#","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100639939","display_name":"Ruifeng Li","orcid":"https://orcid.org/0000-0002-1383-7745"},"institutions":[{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"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":"Rui-feng Li","raw_affiliation_strings":["Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","Harbin Institute of Technology Harbin, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, State Key Laboratory of Robotics and System, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]},{"raw_affiliation_string":"Harbin Institute of Technology Harbin, China#TAB#","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023674699"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":null,"apc_paid":null,"fwci":1.03,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.76360427,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2328","last_page":"2333"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9986000061035156,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.6775909066200256},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.628165066242218},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5421529412269592},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.4919133186340332},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.46923476457595825},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46514996886253357},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.46506717801094055},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44686219096183777},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4309624433517456},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.42158135771751404},{"id":"https://openalex.org/keywords/smoothing-spline","display_name":"Smoothing spline","score":0.41851356625556946},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.41715577244758606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41389235854148865},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.3866490125656128},{"id":"https://openalex.org/keywords/spline-interpolation","display_name":"Spline interpolation","score":0.2560475468635559},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.22937536239624023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17062833905220032},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11952069401741028},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10548365116119385},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08080953359603882},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.06915426254272461}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6775909066200256},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.628165066242218},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5421529412269592},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.4919133186340332},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.46923476457595825},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46514996886253357},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.46506717801094055},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44686219096183777},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4309624433517456},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.42158135771751404},{"id":"https://openalex.org/C107457265","wikidata":"https://www.wikidata.org/wiki/Q7546460","display_name":"Smoothing spline","level":4,"score":0.41851356625556946},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.41715577244758606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41389235854148865},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3866490125656128},{"id":"https://openalex.org/C31447003","wikidata":"https://www.wikidata.org/wiki/Q545002","display_name":"Spline interpolation","level":3,"score":0.2560475468635559},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.22937536239624023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17062833905220032},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11952069401741028},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10548365116119385},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08080953359603882},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.06915426254272461},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C205203396","wikidata":"https://www.wikidata.org/wiki/Q612143","display_name":"Bilinear interpolation","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739817","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":0.6800000071525574,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1964950687","https://openalex.org/W1967911984","https://openalex.org/W1968009415","https://openalex.org/W1970412155","https://openalex.org/W1994843712","https://openalex.org/W2017781530","https://openalex.org/W2026742600","https://openalex.org/W2029349757","https://openalex.org/W2033135945","https://openalex.org/W2038939846","https://openalex.org/W2039317814","https://openalex.org/W2076048129","https://openalex.org/W2091197916","https://openalex.org/W2091771582","https://openalex.org/W2099454002","https://openalex.org/W2115091574","https://openalex.org/W2152421929","https://openalex.org/W2155053955","https://openalex.org/W2155612543"],"related_works":["https://openalex.org/W1981039615","https://openalex.org/W1690623585","https://openalex.org/W2499055041","https://openalex.org/W4243970242","https://openalex.org/W1949299996","https://openalex.org/W3123557714","https://openalex.org/W2964021668","https://openalex.org/W2375026377","https://openalex.org/W2059465695","https://openalex.org/W2025577565"],"abstract_inverted_index":{"Minimum":[0],"time":[1],"optimization":[2,29,73,106],"trajectory":[3,10,34,50,69,81,140],"planning":[4,35],"problem":[5,70,115],"which":[6],"can":[7],"generate":[8],"smooth":[9,80,100],"of":[11,13,36,48,82,94,97,102,111,125,137,141,143],"joints":[12,142],"robot":[14,61,144],"is":[15,116,129],"still":[16],"complex":[17],"and":[18,27,45,55,64],"difficult":[19],"to":[20,76,90],"solve.":[21],"A":[22],"novel":[23],"hybrid":[24],"cubic":[25,86],"B-spline":[26,87],"convex":[28,72,105],"method":[30],"was":[31,88],"presented":[32],"for":[33],"robotic":[37,127],"manipulator":[38,83,128],"in":[39],"this":[40],"paper.":[41],"First,":[42],"the":[43,67,85,92,95,103,109,113,135,139,146],"first":[44],"second":[46],"derivatives":[47],"path":[49],"coordinates":[51],"s,":[52],"called":[53],"pseudo-velocity":[54,98],"pseudo-acceleration":[56],"respectively,":[57],"are":[58],"introduced":[59],"into":[60,71],"dynamic":[62],"model,":[63],"consequently":[65],"transformed":[66,104],"optimal":[68],"problem.":[74],"Then,":[75],"obtain":[77],"a":[78,122],"jerk-bounded":[79],"joints,":[84],"employed":[89],"construct":[91],"curve":[93],"square":[96],"as":[99],"constraint":[101],"model.":[107],"Also,":[108],"process":[110],"solving":[112],"time-optimal":[114],"presented.":[117],"Finally,":[118],"numerical":[119],"simulation":[120],"on":[121],"three-DOF":[123],"(degree":[124],"freedom)":[126],"carried":[130],"out.":[131],"The":[132],"results":[133],"demonstrate":[134],"effectiveness":[136],"smoothing":[138],"with":[145],"proposed":[147],"method.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}