{"id":"https://openalex.org/W2291893052","doi":"https://doi.org/10.1109/robio.2015.7418892","title":"Cartesian space trajectory planning on 7-DOF manipulator","display_name":"Cartesian space trajectory planning on 7-DOF manipulator","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291893052","doi":"https://doi.org/10.1109/robio.2015.7418892","mag":"2291893052"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5045059773","display_name":"Diansheng Chen","orcid":"https://orcid.org/0000-0003-4599-876X"},"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":"Diansheng Chen","raw_affiliation_strings":["Robotic Institute, Beihang University, Beijing, P.R.China"],"affiliations":[{"raw_affiliation_string":"Robotic Institute, Beihang University, Beijing, P.R.China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008618295","display_name":"Benguang Zhang","orcid":null},"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":"Benguang Zhang","raw_affiliation_strings":["Robotic Institute, Beihang University, Beijing, P.R.China"],"affiliations":[{"raw_affiliation_string":"Robotic Institute, Beihang University, Beijing, P.R.China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100749649","display_name":"Min Wang","orcid":"https://orcid.org/0000-0003-1756-1405"},"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":"Min Wang","raw_affiliation_strings":["Dean's office, Beihang University, Beijing, P.R.China"],"affiliations":[{"raw_affiliation_string":"Dean's office, Beihang University, Beijing, P.R.China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5045059773"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.3997,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70636404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"32","issue":null,"first_page":"940","last_page":"945"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"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/kinematics","display_name":"Kinematics","score":0.7588472366333008},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.7426437735557556},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7208589911460876},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6136019825935364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5284343361854553},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.519747257232666},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.50225830078125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47727078199386597},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4644223749637604},{"id":"https://openalex.org/keywords/arc","display_name":"Arc (geometry)","score":0.4506511688232422},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4422445595264435},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43933528661727905},{"id":"https://openalex.org/keywords/parabola","display_name":"Parabola","score":0.4136480689048767},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2861230969429016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2419293224811554},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1521439254283905},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12073421478271484},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11345493793487549},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11329081654548645}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7588472366333008},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.7426437735557556},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7208589911460876},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6136019825935364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5284343361854553},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.519747257232666},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.50225830078125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47727078199386597},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4644223749637604},{"id":"https://openalex.org/C83415579","wikidata":"https://www.wikidata.org/wiki/Q161973","display_name":"Arc (geometry)","level":2,"score":0.4506511688232422},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4422445595264435},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43933528661727905},{"id":"https://openalex.org/C205890394","wikidata":"https://www.wikidata.org/wiki/Q48297","display_name":"Parabola","level":2,"score":0.4136480689048767},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2861230969429016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2419293224811554},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1521439254283905},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12073421478271484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11345493793487549},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11329081654548645},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8399999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1490566546","https://openalex.org/W1994349244","https://openalex.org/W1997650413","https://openalex.org/W2062691475","https://openalex.org/W2149978207","https://openalex.org/W2350075556"],"related_works":["https://openalex.org/W2797746073","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W339676884","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"This":[0],"paper":[1],"combines":[2],"the":[3,7,21,30,61,70,79,92],"7-DOF":[4],"manipulator":[5],"in":[6,43,57],"application":[8],"of":[9,37,81,94],"nursing":[10],"robot,":[11],"building":[12],"its":[13],"kinematics":[14],"models":[15],"with":[16,25,55],"D-H":[17],"method":[18,36],"and":[19,66,74,84,96],"analyzing":[20],"inverse":[22],"kinematic":[23],"problem":[24],"geometry":[26],"method.":[27],"To":[28],"make":[29],"acceleration":[31],"continuous,":[32],"a":[33],"trajectory":[34],"planning":[35],"trapezoid":[38],"velocity":[39,62],"curve":[40],"is":[41,72],"proposed":[42],"this":[44],"paper,":[45],"whose":[46],"four":[47],"inflection":[48],"points":[49],"are":[50,87],"supposed":[51],"to":[52,90],"be":[53,64],"transited":[54],"parabola":[56],"Cartesian":[58],"space.":[59],"Thus,":[60],"will":[63],"continuous":[65],"smooth.":[67],"Finally,":[68],"after":[69],"target":[71],"identified":[73],"located":[75],"by":[76],"artificial":[77],"marker,":[78],"experiments":[80],"grasping":[82],"bottle":[83],"opening":[85],"door":[86],"carried":[88],"out":[89],"verify":[91],"feasibility":[93],"linear":[95],"arc":[97],"trajectories":[98],"planning.":[99]},"counts_by_year":[{"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":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
