{"id":"https://openalex.org/W3010248143","doi":"https://doi.org/10.1109/tase.2020.2974771","title":"Planning Jerk-Optimized Trajectory With Discrete Time Constraints for Redundant Robots","display_name":"Planning Jerk-Optimized Trajectory With Discrete Time Constraints for Redundant Robots","publication_year":2020,"publication_date":"2020-03-06","ids":{"openalex":"https://openalex.org/W3010248143","doi":"https://doi.org/10.1109/tase.2020.2974771","mag":"3010248143"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2020.2974771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2974771","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.06570.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102307610","display_name":"Chengkai Dai","orcid":"https://orcid.org/0009-0005-5683-5044"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["HK","NL"],"is_corresponding":true,"raw_author_name":"Chengkai Dai","raw_affiliation_strings":["Delft University of Technology (TU Delft), Delft, The Netherlands","The Chinese University of Hong Kong (CUHK), Hong Kong","Delft University of Technology (TU Delft), Delft, The Netherlands; The Chinese University of Hong Kong (CUHK), Hong Kong"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology (TU Delft), Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK), Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Delft University of Technology (TU Delft), Delft, The Netherlands; The Chinese University of Hong Kong (CUHK), Hong Kong","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080532150","display_name":"Sylvain Lef\u00e8bvre","orcid":"https://orcid.org/0000-0002-9182-3146"},"institutions":[{"id":"https://openalex.org/I4210127166","display_name":"Centre Inria de l'Universit\u00e9 de Lorraine","ror":"https://ror.org/03fcjvn64","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210127166"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sylvain Lefebvre","raw_affiliation_strings":["Inria, Nancy, France"],"affiliations":[{"raw_affiliation_string":"Inria, Nancy, France","institution_ids":["https://openalex.org/I4210127166"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064925963","display_name":"Kai Yu","orcid":"https://orcid.org/0000-0002-5187-9006"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kai-Ming Yu","raw_affiliation_strings":["The Hong Kong Polytechnic University, Hong Kong","[Department of Industrial and System Engineering, The Hong Kong Polytechnic University, Hong Kong]"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"[Department of Industrial and System Engineering, The Hong Kong Polytechnic University, Hong Kong]","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036227103","display_name":"Jo M. P. Geraedts","orcid":"https://orcid.org/0000-0002-1838-9048"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jo M. P. Geraedts","raw_affiliation_strings":["Delft University of Technology (TU Delft), Delft, The Netherlands","Department of Design Engineering, Delft University of Technology (TU Delft), Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology (TU Delft), Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Design Engineering, Delft University of Technology (TU Delft), Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032878278","display_name":"Charlie C. L. Wang","orcid":"https://orcid.org/0000-0003-4406-8480"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Charlie C. L. Wang","raw_affiliation_strings":["The Chinese University of Hong Kong (CUHK), Hong Kong","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong (CUHK), Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102307610"],"corresponding_institution_ids":["https://openalex.org/I177725633","https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":4.22,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.95326979,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"17","issue":"4","first_page":"1711","last_page":"1724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.991599977016449,"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":0.9883000254631042,"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/jerk","display_name":"Jerk","score":0.9357562065124512},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7221991419792175},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6407186388969421},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5784951448440552},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5442831516265869},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5329174995422363},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44654160737991333},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3443928360939026},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3237687945365906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3222907781600952},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2254038155078888},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17972633242607117},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.1741558313369751},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.107624351978302}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9357562065124512},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7221991419792175},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6407186388969421},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5784951448440552},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5442831516265869},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5329174995422363},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44654160737991333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3443928360939026},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3237687945365906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3222907781600952},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2254038155078888},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17972633242607117},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.1741558313369751},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.107624351978302},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tase.2020.2974771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2974771","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:publications/74b8f61e-59f5-4cc1-ba00-a2cfccae5aec","is_oa":true,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/planning-jerkoptimized-trajectory-with-discrete-time-constraints-for-redundant-robots(74b8f61e-59f5-4cc1-ba00-a2cfccae5aec).html","pdf_url":"https://arxiv.org/pdf/1909.06570.pdf","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Dai, C, Lefebvre, S, Yu, K-M, Geraedts, J M P & Wang, C C L 2020, 'Planning Jerk-Optimized Trajectory With Discrete Time Constraints for Redundant Robots', IEEE Transactions on Automation Science and Engineering, vol. 17, no. 4, pp. 1-14. https://doi.org/10.1109/TASE.2020.2974771","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/74b8f61e-59f5-4cc1-ba00-a2cfccae5aec","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/74b8f61e-59f5-4cc1-ba00-a2cfccae5aec","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Dai, C, Lefebvre, S, Yu, K-M, Geraedts, J M P & Wang, C C L 2020, 'Planning Jerk-Optimized Trajectory With Discrete Time Constraints for Redundant Robots', IEEE Transactions on Automation Science and Engineering, vol. 17, no. 4, pp. 1-14. https://doi.org/10.1109/TASE.2020.2974771","raw_type":"article"},{"id":"pmh:oai:tudelft.nl:uuid:d37eace9-48fb-4ed9-9339-6397fcdedbaa","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:d37eace9-48fb-4ed9-9339-6397fcdedbaa","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:publications/74b8f61e-59f5-4cc1-ba00-a2cfccae5aec","is_oa":true,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/planning-jerkoptimized-trajectory-with-discrete-time-constraints-for-redundant-robots(74b8f61e-59f5-4cc1-ba00-a2cfccae5aec).html","pdf_url":"https://arxiv.org/pdf/1909.06570.pdf","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Dai, C, Lefebvre, S, Yu, K-M, Geraedts, J M P & Wang, C C L 2020, 'Planning Jerk-Optimized Trajectory With Discrete Time Constraints for Redundant Robots', IEEE Transactions on Automation Science and Engineering, vol. 17, no. 4, pp. 1-14. https://doi.org/10.1109/TASE.2020.2974771","raw_type":"article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G207281973","display_name":null,"funder_award_id":"61628211","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6258415954","display_name":null,"funder_award_id":"Chinese","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6809183074","display_name":null,"funder_award_id":"Project No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7033253288","display_name":null,"funder_award_id":"Grants","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321012","display_name":"Technische Universiteit Delft","ror":"https://ror.org/02e2c7k09"},{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W3010248143.pdf"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1510918013","https://openalex.org/W1538281461","https://openalex.org/W1648000150","https://openalex.org/W1660808159","https://openalex.org/W1967483785","https://openalex.org/W1971086298","https://openalex.org/W1999250663","https://openalex.org/W2004139909","https://openalex.org/W2016793280","https://openalex.org/W2020909219","https://openalex.org/W2034360491","https://openalex.org/W2042913147","https://openalex.org/W2055522016","https://openalex.org/W2069931026","https://openalex.org/W2070929974","https://openalex.org/W2105293428","https://openalex.org/W2116341587","https://openalex.org/W2119520718","https://openalex.org/W2128990851","https://openalex.org/W2137666503","https://openalex.org/W2139212933","https://openalex.org/W2142224528","https://openalex.org/W2153628631","https://openalex.org/W2153635508","https://openalex.org/W2159857204","https://openalex.org/W2165252719","https://openalex.org/W2289326762","https://openalex.org/W2346637437","https://openalex.org/W2409044193","https://openalex.org/W2600885945","https://openalex.org/W2768132486","https://openalex.org/W2792984727","https://openalex.org/W2810733959","https://openalex.org/W2884373840","https://openalex.org/W2951294143","https://openalex.org/W2957764147","https://openalex.org/W2964079853","https://openalex.org/W2973498697","https://openalex.org/W3104753760","https://openalex.org/W4244344158","https://openalex.org/W4246179992","https://openalex.org/W4247352125","https://openalex.org/W4301188355","https://openalex.org/W6680403555","https://openalex.org/W6714639566","https://openalex.org/W6735876163","https://openalex.org/W6743350977"],"related_works":["https://openalex.org/W2039317814","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,25,70,87,94,129,136,177,207,221,243,248,284,293,299,335],"method":[3,52,66,124,347],"for":[4,127,229,292,334],"effectively":[5],"planning":[6,51,295,316],"the":[7,15,54,61,102,151,168,182,188,202,215,218,251,260,270,308,315,322,341],"motion":[8,45,169,263,294],"trajectory":[9,50,252,303],"of":[10,18,28,44,56,63,75,153,170,179,184,195,214,220,242,253,262,287,304],"robots":[11,254],"in":[12,38,48,101,140,146,264,269,349],"manufacturing":[13,160,324,370,384],"tasks,":[14],"tool":[16,185,189,222,280],"paths":[17],"which":[19],"are":[20,144,164,238],"usually":[21],"complex":[22,277],"and":[23,73,187,267,301,376],"have":[24,283],"large":[26,105,285],"number":[27],"discrete":[29],"time":[30,312],"constraints":[31],"as":[32,135,176,331],"waypoints.":[33,288],"Kinematic":[34],"redundancy":[35],"also":[36],"exists":[37],"these":[39],"robotic":[40,162,203,208,244],"systems.":[41,385],"The":[42,107,192,311,346,360],"jerk":[43,268],"is":[46,67,90,110,125,133,198,290,344],"optimized":[47,257],"our":[49,154,367],"at":[53],"meanwhile":[55],"fabrication":[57,309],"process":[58],"to":[59,92,117,149,157,166,246,258,297,306,356,372,381],"improve":[60,307],"quality":[62],"fabrication.":[64],"Our":[65],"based":[68],"on":[69,366],"sampling":[71,123],"strategy":[72],"consists":[74],"two":[76],"major":[77],"parts.":[78],"After":[79],"determining":[80],"an":[81,121,230,353],"initial":[82],"path":[83,95,281],"by":[84,96,112,314],"graph":[85],"search,":[86],"greedy":[88],"algorithm":[89,296,317],"adopted":[91],"optimize":[93],"locally":[97],"applying":[98],"adaptive":[99,122],"filers":[100],"regions":[103],"with":[104,181],"jerks.":[106],"filtered":[108],"result":[109],"obtained":[111],"numerical":[113],"optimization.":[114],"In":[115,273],"order":[116],"achieve":[118],"efficient":[119,354],"computation,":[120],"developed":[126],"learning":[128],"collision-indication":[130],"function":[131],"that":[132],"represented":[134],"support-vector":[137],"machine.":[138],"Applications":[139],"robot-assisted":[141,159,368,383],"3-D":[142],"printing":[143],"given":[145,249],"this":[147,234,350,358],"article":[148,351],"demonstrate":[150,373],"functionality":[152],"approach.":[155],"Note":[156],"Practitioners-In":[158],"applications,":[161],"arms":[163],"employed":[165],"realize":[167,247],"workpieces":[171],"(or":[172],"machining":[173],"tools)":[174],"specified":[175],"sequence":[178],"waypoints":[180],"positions":[183],"tip":[186],"orientations":[190],"constrained.":[191],"required":[193],"degree":[194],"freedom":[196],"(DOF)":[197],"often":[199],"less":[200],"than":[201],"hardware":[204],"system":[205,371],"(e.g.,":[206],"arm":[209,245],"has":[210,362],"six-DOF).":[211],"Specifically,":[212],"rotations":[213],"workpiece":[216],"around":[217],"axis":[219],"can":[223,255,282,337,377],"be":[224,256,338,378],"arbitrary":[225],"(see":[226],"Fig.":[227],"1":[228],"example).":[231],"By":[232],"using":[233],"redundancy,":[235],"i.e.,":[236],"there":[237],"many":[239],"possible":[240],"poses":[241],"waypoint,":[250],"consider":[259],"performance":[261],"velocity,":[265],"acceleration,":[266],"joint":[271],"space.":[272],"addition,":[274],"when":[275],"fabricating":[276],"models,":[278],"each":[279],"amount":[286],"It":[289],"crucial":[291],"compute":[298],"smooth":[300],"collision-free":[302],"robot":[305],"quality.":[310],"taken":[313],"should":[318],"not":[319],"significantly":[320],"lengthen":[321],"total":[323],"time;":[325],"ideally,":[326],"it":[327],"would":[328],"remain":[329],"hidden":[330],"computing":[332],"motions":[333],"layer":[336,343],"done":[339],"while":[340],"previous":[342],"printing.":[345],"presented":[348],"provides":[352],"framework":[355,361],"tackle":[357],"problem.":[359],"been":[363],"well":[364],"tested":[365],"additive":[369],"its":[374],"effectiveness":[375],"generally":[379],"applied":[380],"other":[382]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":5}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}