{"id":"https://openalex.org/W4280496961","doi":"https://doi.org/10.1109/syscon53536.2022.9773878","title":"Virtual Commissioning of the Trajectory Tracking Control of a Sensor-Guided, Kinematically Redundant Robotic Welding System on a PLC","display_name":"Virtual Commissioning of the Trajectory Tracking Control of a Sensor-Guided, Kinematically Redundant Robotic Welding System on a PLC","publication_year":2022,"publication_date":"2022-04-25","ids":{"openalex":"https://openalex.org/W4280496961","doi":"https://doi.org/10.1109/syscon53536.2022.9773878"},"language":"en","primary_location":{"id":"doi:10.1109/syscon53536.2022.9773878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon53536.2022.9773878","pdf_url":null,"source":{"id":"https://openalex.org/S4363608590","display_name":"2022 IEEE International Systems Conference (SysCon)","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":"2022 IEEE International Systems Conference (SysCon)","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/A5068714445","display_name":"Stefan Sch\u00fctz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093498","display_name":"Fraunhofer Institute for Mechatronic Systems Design","ror":"https://ror.org/004nttc42","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210093498","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Stefan Schutz","raw_affiliation_strings":["Fraunhofer Institute for Mechatronic Systems Design IEM,Zukunftsmeile 1,Paderborn,Germany,33102"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Mechatronic Systems Design IEM,Zukunftsmeile 1,Paderborn,Germany,33102","institution_ids":["https://openalex.org/I4210093498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065050142","display_name":"Robin Schmidt","orcid":"https://orcid.org/0000-0001-5613-8349"},"institutions":[{"id":"https://openalex.org/I4210093498","display_name":"Fraunhofer Institute for Mechatronic Systems Design","ror":"https://ror.org/004nttc42","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210093498","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robin Schmidt","raw_affiliation_strings":["Fraunhofer Institute for Mechatronic Systems Design IEM,Zukunftsmeile 1,Paderborn,Germany,33102"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Mechatronic Systems Design IEM,Zukunftsmeile 1,Paderborn,Germany,33102","institution_ids":["https://openalex.org/I4210093498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022058820","display_name":"Markus Henke","orcid":"https://orcid.org/0000-0002-1544-6123"},"institutions":[{"id":"https://openalex.org/I4210093498","display_name":"Fraunhofer Institute for Mechatronic Systems Design","ror":"https://ror.org/004nttc42","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210093498","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Henke","raw_affiliation_strings":["Fraunhofer Institute for Mechatronic Systems Design IEM,Zukunftsmeile 1,Paderborn,Germany,33102"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Mechatronic Systems Design IEM,Zukunftsmeile 1,Paderborn,Germany,33102","institution_ids":["https://openalex.org/I4210093498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075101107","display_name":"Ansgar Tr\u00e4chtler","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ansgar Trachtler","raw_affiliation_strings":["University of Paderborn,Heinz Nixdorf Institute,Fürstenallee 11,Paderborn,Germany,33102"],"affiliations":[{"raw_affiliation_string":"University of Paderborn,Heinz Nixdorf Institute,Fürstenallee 11,Paderborn,Germany,33102","institution_ids":["https://openalex.org/I206945453"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068714445"],"corresponding_institution_ids":["https://openalex.org/I4210093498"],"apc_list":null,"apc_paid":null,"fwci":0.6935,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56792257,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"7","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T13113","display_name":"Engineering Technology and Methodologies","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9950000047683716,"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/welding","display_name":"Welding","score":0.691493034362793},{"id":"https://openalex.org/keywords/robot-welding","display_name":"Robot welding","score":0.6727639436721802},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.671922504901886},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6612280607223511},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.592430591583252},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5405586957931519},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.527226448059082},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5218809247016907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5159364342689514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47700169682502747},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4556146562099457},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42266637086868286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3523600101470947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2829627990722656},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1670864224433899}],"concepts":[{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.691493034362793},{"id":"https://openalex.org/C118198166","wikidata":"https://www.wikidata.org/wiki/Q2327264","display_name":"Robot welding","level":3,"score":0.6727639436721802},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.671922504901886},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6612280607223511},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.592430591583252},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5405586957931519},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.527226448059082},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5218809247016907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5159364342689514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47700169682502747},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4556146562099457},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42266637086868286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3523600101470947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2829627990722656},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1670864224433899},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/syscon53536.2022.9773878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon53536.2022.9773878","pdf_url":null,"source":{"id":"https://openalex.org/S4363608590","display_name":"2022 IEEE International Systems Conference (SysCon)","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":"2022 IEEE International Systems Conference (SysCon)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/425927","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/425927","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311649","display_name":"Ministry of Education","ror":"https://ror.org/036nq5137"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1498357753","https://openalex.org/W2028173473","https://openalex.org/W2049410986","https://openalex.org/W2049617391","https://openalex.org/W2057134777","https://openalex.org/W2066835427","https://openalex.org/W2100790457","https://openalex.org/W2109947513","https://openalex.org/W2113265921","https://openalex.org/W2618431425","https://openalex.org/W2955774370","https://openalex.org/W3135862658","https://openalex.org/W4231550435","https://openalex.org/W4243385754","https://openalex.org/W6677390752"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1508899372","https://openalex.org/W4360995134","https://openalex.org/W1941703695","https://openalex.org/W2387529410","https://openalex.org/W2039473718","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2987583674","https://openalex.org/W2046725723"],"abstract_inverted_index":{"This":[0,102],"article":[1],"shows":[2],"the":[3,7,15,24,31,37,41,45,56,78,84],"methodical":[4],"procedure":[5],"for":[6,77],"model-based":[8],"systems":[9],"engineering":[10],"and":[11,68,114,125],"virtual":[12,92],"commissioning":[13,93],"of":[14,18,27,33,44,52,109,127],"motion":[16,63],"control":[17],"a":[19],"complex":[20],"robotic":[21],"system":[22,38,79,100],"in":[23,91,112],"application":[25],"field":[26],"welding":[28,85],"automation.":[29],"By":[30],"integration":[32],"external":[34],"sensor":[35],"technology,":[36],"semi-automatically":[39],"detects":[40],"weld":[42],"seams":[43],"assemblies":[46],"to":[47,65,69,81,106,121],"be":[48],"welded.":[49],"As":[50],"part":[51],"real-time":[53],"multi-objective":[54],"optimization,":[55],"system\u2019s":[57],"kinematic":[58],"redundancy":[59],"is":[60],"used":[61],"during":[62,99],"execution":[64],"avoid":[66],"singularities":[67],"comply":[70],"with":[71,129],"joint":[72],"limits,":[73],"making":[74],"it":[75],"easier":[76],"operator":[80],"set":[82],"up":[83],"system.":[86],"The":[87],"simulation":[88],"models":[89],"created":[90],"serve":[94],"as":[95],"additional":[96],"visual":[97],"support":[98],"setup.":[101],"provides":[103],"an":[104],"approach":[105],"robot-based":[107],"automation":[108],"manufacturing":[110],"processes":[111],"small":[113,122],"medium":[115],"enterprises,":[116],"which":[117],"often":[118],"fails":[119],"due":[120],"batch":[123],"sizes":[124],"lack":[126],"personnel":[128],"robotics":[130],"skills.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}