{"id":"https://openalex.org/W4225920960","doi":"https://doi.org/10.1109/robio54168.2021.9739236","title":"Research on Safe Motion Tracking Algorithm of Manipulator Based on Minimum Pseudo-Distance Criterion","display_name":"Research on Safe Motion Tracking Algorithm of Manipulator Based on Minimum Pseudo-Distance Criterion","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4225920960","doi":"https://doi.org/10.1109/robio54168.2021.9739236"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739236","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5048672759","display_name":"Xuefei Liu","orcid":"https://orcid.org/0000-0001-5120-0633"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuefei Liu","raw_affiliation_strings":["Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032"],"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000024068","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-5936-6571"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032"],"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102020756","display_name":"Xiangrong Xu","orcid":"https://orcid.org/0000-0001-6055-6797"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangrong Xu","raw_affiliation_strings":["Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032"],"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693197","display_name":"Pan Zhou","orcid":"https://orcid.org/0000-0002-8629-4622"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pan Zhou","raw_affiliation_strings":["Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032"],"affiliations":[{"raw_affiliation_string":"Anhui University of Technology,School of Mechanical Engineering,Ma’anshan,China,243032","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045379870","display_name":"Bingwei He","orcid":"https://orcid.org/0000-0002-4386-8542"},"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":"Bingwei He","raw_affiliation_strings":["Fuzhou University,School of Mechanical Engineering and Automation,Fuzhou,China,350116"],"affiliations":[{"raw_affiliation_string":"Fuzhou University,School of Mechanical Engineering and Automation,Fuzhou,China,350116","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["University of Hamburg,Department of Computer,Hamburg,Germany,20095"],"affiliations":[{"raw_affiliation_string":"University of Hamburg,Department of Computer,Hamburg,Germany,20095","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5048672759"],"corresponding_institution_ids":["https://openalex.org/I92178344"],"apc_list":null,"apc_paid":null,"fwci":0.0653,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4094182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9983000159263611,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.7172946929931641},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.672939658164978},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6310988664627075},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6021486520767212},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5804535150527954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5722792744636536},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.569231390953064},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.525127649307251},{"id":"https://openalex.org/keywords/sigmoid-function","display_name":"Sigmoid function","score":0.4822957515716553},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4467127323150635},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4412984251976013},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38108640909194946},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37776729464530945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3356515169143677},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3090357184410095},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2754080891609192},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10295921564102173},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.0797041654586792}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7172946929931641},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.672939658164978},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6310988664627075},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6021486520767212},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5804535150527954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5722792744636536},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.569231390953064},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.525127649307251},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.4822957515716553},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4467127323150635},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4412984251976013},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38108640909194946},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37776729464530945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3356515169143677},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3090357184410095},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2754080891609192},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10295921564102173},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0797041654586792},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739236","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739236","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2055127591","https://openalex.org/W2068612318","https://openalex.org/W2331296804","https://openalex.org/W2573131714","https://openalex.org/W2872994942","https://openalex.org/W2904269551","https://openalex.org/W2947218280","https://openalex.org/W2951294143","https://openalex.org/W2965690893","https://openalex.org/W3001804060","https://openalex.org/W3028813395","https://openalex.org/W3095629189","https://openalex.org/W3177977523","https://openalex.org/W3192558761","https://openalex.org/W4245535141"],"related_works":["https://openalex.org/W2901547155","https://openalex.org/W2913749762","https://openalex.org/W2531604492","https://openalex.org/W2906946336","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2624388109","https://openalex.org/W2938416672"],"abstract_inverted_index":{"To":[0],"solve":[1],"the":[2,24,30,35,40,46,55,68,72,82,87,92,108,112,117],"problem":[3],"of":[4,71,107,116],"low-accuracy":[5],"trajectory":[6,16,98],"tracking":[7,17,62,99],"in":[8,74],"a":[9,12],"complex":[10],"environment,":[11],"novel":[13],"collision-free":[14],"endeffector":[15],"algorithm":[18,63,94],"is":[19,27,38,64],"proposed.":[20],"In":[21],"this":[22],"paper,":[23],"minimum":[25],"pseudo-distance":[26],"selected":[28],"as":[29],"objective":[31],"optimization":[32],"function,":[33],"and":[34,101,114],"nearest":[36],"point":[37],"given":[39],"obstacle":[41,104],"avoidance":[42,105],"escape":[43],"velocity":[44],"by":[45],"gradient":[47],"projection":[48],"method":[49],"based":[50,80],"on":[51,81],"sigmoid":[52],"function.":[53],"At":[54],"same":[56],"time,":[57],"an":[58],"adaptive":[59],"closed-loop":[60],"position":[61,69],"designed":[65],"to":[66],"reduce":[67],"error":[70],"robot":[73],"real-time.":[75],"The":[76],"MATLAB":[77],"simulation":[78],"results":[79],"6-DOF":[83],"manipulator":[84],"(Without":[85],"considering":[86],"end-effector":[88],"posture)":[89],"show":[90],"that":[91],"developed":[93],"can":[95],"obtain":[96],"low-error":[97],"outcomes,":[100],"while":[102],"realizing":[103],"subtask":[106],"manipulator,":[109],"which":[110],"verifies":[111],"reliability":[113],"superiority":[115],"proposed":[118],"approach.":[119]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}