{"id":"https://openalex.org/W4407403438","doi":"https://doi.org/10.1109/sii59315.2025.10871033","title":"Enhancing End-point Accuracy for Path-following Motion of Articulated Redundant Arm","display_name":"Enhancing End-point Accuracy for Path-following Motion of Articulated Redundant Arm","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407403438","doi":"https://doi.org/10.1109/sii59315.2025.10871033"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10871033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","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/A5055114425","display_name":"Koki Hasegawa","orcid":"https://orcid.org/0000-0003-2145-3183"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koki Hasegawa","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014085137","display_name":"Yuki Shizume","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuki Shizume","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025268480","display_name":"Hiroyuki Nabae","orcid":"https://orcid.org/0000-0002-3036-6447"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hiroyuki Nabae","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Science Tokyo,Department of Mechanical Engineering,Tokyo,Japan,152-8552","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9042,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70082839,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"593","last_page":"598"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9706000089645386,"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":0.9706000089645386,"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/T12290","display_name":"Human Motion and Animation","score":0.9431999921798706,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9074000120162964,"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/path","display_name":"Path (computing)","score":0.6339592933654785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5871161818504333},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5224586725234985},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.493373304605484},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4584465026855469},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44346484541893005},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44333964586257935},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35616210103034973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20922374725341797},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17634570598602295},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15034306049346924},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0972430408000946}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6339592933654785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5871161818504333},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5224586725234985},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.493373304605484},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4584465026855469},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44346484541893005},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44333964586257935},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35616210103034973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20922374725341797},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17634570598602295},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15034306049346924},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0972430408000946}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10871033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2023782890","https://openalex.org/W2039048468","https://openalex.org/W2129768723","https://openalex.org/W2137670317","https://openalex.org/W2510720489","https://openalex.org/W2912795814","https://openalex.org/W4388308926","https://openalex.org/W4391932957"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W4313255720","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W2134215012"],"abstract_inverted_index":{"To":[0,89],"enable":[1],"decommissioning":[2,20,57],"work":[3],"at":[4],"the":[5,11,32,38,43,48,83,118],"Fukushima":[6],"Daiichi":[7],"Nuclear":[8],"Power":[9],"Plant,":[10],"development":[12],"of":[13,85,105],"long-reach":[14],"articulated":[15],"arms":[16],"is":[17,54,61],"underway.":[18],"In":[19],"work,":[21,58],"by":[22],"setting":[23],"a":[24,95],"target":[25,44,76,96,120],"path":[26,80],"in":[27,79],"three-dimensional":[28],"space":[29],"and":[30,68,125],"guiding":[31],"entire":[33],"arm":[34],"along":[35],"this":[36,91],"path,":[37],"end":[39],"effector":[40],"can":[41],"reach":[42],"position":[45],"while":[46],"minimizing":[47],"volume":[49],"traversed.":[50],"Therefore,":[51],"path-following":[52],"motion":[53],"effective":[55],"for":[56,63,74],"as":[59],"it":[60],"suitable":[62],"passing":[64],"through":[65],"narrow":[66],"spaces":[67],"avoiding":[69],"obstacles.":[70],"However,":[71],"conventional":[72,110],"methods":[73],"calculating":[75],"joint":[77,97,121],"angle":[78,98,122],"following":[81],"face":[82],"challenge":[84],"insufficient":[86],"end-point":[87],"accuracy.":[88],"improve":[90],"accuracy,":[92],"we":[93,113],"propose":[94],"calculation":[99,123],"method":[100,124],"that":[101],"achieves":[102],"higher":[103],"accuracy":[104],"tip":[106],"positioning":[107],"compared":[108],"to":[109],"methods.":[111],"Furthermore,":[112],"conducted":[114],"hardware":[115],"verifications":[116],"using":[117],"proposed":[119],"demonstrated":[126],"its":[127],"effectiveness.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
