{"id":"https://openalex.org/W3207057528","doi":"https://doi.org/10.1109/tase.2021.3117691","title":"Equidistant Tool Path and Cartesian Trajectory Planning for Robotic Machining of Curved Freeform Surfaces","display_name":"Equidistant Tool Path and Cartesian Trajectory Planning for Robotic Machining of Curved Freeform Surfaces","publication_year":2021,"publication_date":"2021-10-16","ids":{"openalex":"https://openalex.org/W3207057528","doi":"https://doi.org/10.1109/tase.2021.3117691","mag":"3207057528"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3117691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3117691","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010997634","display_name":"Manuel Amersdorfer","orcid":"https://orcid.org/0000-0002-6416-3453"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Christian-Albrechts-Universit\u00e4t zu Kiel","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Manuel Amersdorfer","raw_affiliation_strings":["Chair of Automation and Control, Faculty of Engineering, Kiel University, Kiel, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automation and Control, Faculty of Engineering, Kiel University, Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002069913","display_name":"Thomas Meurer","orcid":"https://orcid.org/0000-0002-9175-2157"},"institutions":[{"id":"https://openalex.org/I32021983","display_name":"Christian-Albrechts-Universit\u00e4t zu Kiel","ror":"https://ror.org/04v76ef78","country_code":"DE","type":"education","lineage":["https://openalex.org/I32021983"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Meurer","raw_affiliation_strings":["Chair of Automation and Control, Faculty of Engineering, Kiel University, Kiel, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Automation and Control, Faculty of Engineering, Kiel University, Kiel, Germany","institution_ids":["https://openalex.org/I32021983"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5010997634"],"corresponding_institution_ids":["https://openalex.org/I32021983"],"apc_list":null,"apc_paid":null,"fwci":4.4503,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.95869764,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"19","issue":"4","first_page":"3311","last_page":"3323"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9988999962806702,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/equidistant","display_name":"Equidistant","score":0.7939141392707825},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.6758759617805481},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6019432544708252},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5999590158462524},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.5041505098342896},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5040101408958435},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49621349573135376},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.4629007577896118},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.449870765209198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3572486340999603},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26381438970565796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23710951209068298},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2290058732032776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22305330634117126},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12103837728500366}],"concepts":[{"id":"https://openalex.org/C158245278","wikidata":"https://www.wikidata.org/wiki/Q4386982","display_name":"Equidistant","level":2,"score":0.7939141392707825},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.6758759617805481},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6019432544708252},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5999590158462524},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.5041505098342896},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5040101408958435},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49621349573135376},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.4629007577896118},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.449870765209198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3572486340999603},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26381438970565796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23710951209068298},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2290058732032776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22305330634117126},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12103837728500366},{"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/tase.2021.3117691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3117691","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3619096106","display_name":null,"funder_award_id":"DD01-004","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W793917891","https://openalex.org/W1502117219","https://openalex.org/W1542542486","https://openalex.org/W1930952095","https://openalex.org/W1953483015","https://openalex.org/W1982968486","https://openalex.org/W1986573745","https://openalex.org/W1987574052","https://openalex.org/W2010067699","https://openalex.org/W2031677213","https://openalex.org/W2042891670","https://openalex.org/W2055171687","https://openalex.org/W2060808452","https://openalex.org/W2066566133","https://openalex.org/W2088322738","https://openalex.org/W2089344586","https://openalex.org/W2091236479","https://openalex.org/W2099454002","https://openalex.org/W2113265921","https://openalex.org/W2119743110","https://openalex.org/W2135714260","https://openalex.org/W2138795248","https://openalex.org/W2142306164","https://openalex.org/W2147774191","https://openalex.org/W2162856858","https://openalex.org/W2209993346","https://openalex.org/W3014355579","https://openalex.org/W3023540268","https://openalex.org/W3044110449","https://openalex.org/W4205649593","https://openalex.org/W4254109267","https://openalex.org/W4301516013","https://openalex.org/W6640771297","https://openalex.org/W7006191206"],"related_works":["https://openalex.org/W2055230676","https://openalex.org/W2373708349","https://openalex.org/W2370379095","https://openalex.org/W2064284991","https://openalex.org/W2385837322","https://openalex.org/W2123581415","https://openalex.org/W2546071705","https://openalex.org/W2354382931","https://openalex.org/W2392576975","https://openalex.org/W2378019422"],"abstract_inverted_index":{"This":[0,43,229],"article":[1,230],"proposes":[2,231],"an":[3,59,302,343,412],"equidistant":[4,237,329],"tool":[5,352,368],"path":[6,41,70,89,113,144,319,335,384,406],"planning":[7,409],"strategy":[8,21],"on":[9,16,24,95,114,132,173,196,240,260,362,411],"curved":[10,176,197,242],"freeform":[11,116,177,198,243],"surfaces":[12],"with":[13,66,169,305,331,415],"the":[14,25,29,39,55,64,69,96,100,111,115,120,133,138,143,152,158,161,213,223,251,256,261,264,278,348,351,363,373,380,383,386,392,400,405],"focus":[15],"robotic":[17,171,417],"machining":[18,135,194,218,365],"tasks.":[19],"The":[20,81,102,164,266,317,334,367],"is":[22,75,84,209,220,268,281,320,336,369,377],"based":[23,259],"arc-length":[26,73,315],"parameterization":[27,65],"of":[28,38,63,99,142,157,222,277,327,350,382],"surface":[30,117,146,227],"and":[31,91,145,154,183,226,255,280,296,385,395,407],"can":[32,128,389],"be":[33,129],"considered":[34],"as":[35],"a":[36,50,107,170,174,232,241,248,274,357,416],"variant":[37],"iso-parametric":[40],"planning.":[42],"method":[44,234],"allows":[45,147],"us":[46,148],"to":[47,149,180,235,292],"directly":[48,150,282],"consider":[49],"given":[51,269],"Cartesian":[52,79,253,311,340],"boundary":[53],"in":[54,72,78,310,322,339],"parameter":[56,324],"domain.":[57],"Using":[58],"inverse":[60,344],"interpolation":[61],"scheme":[62],"cubic":[67],"splines,":[68],"planned":[71,112,162,321],"coordinates":[74,254,341],"mapped":[76],"back":[77,338],"coordinates.":[80],"equidistance":[82],"property":[83],"also":[85,390],"satisfied":[86],"for":[87,193,200,289],"larger":[88],"intervals":[90],"does":[92],"not":[93],"depend":[94],"local":[97,224],"curvature":[98],"surface.":[101,178,244,265],"proposed":[103,165],"trajectory":[104],"planner":[105],"ensures":[106],"constant":[108],"velocity":[109,126,156,398],"along":[110,160,263,353],"while":[118],"limiting":[119],"maximum":[121,374],"centripetal":[122,375],"acceleration.":[123],"However,":[124],"general":[125],"profiles":[127],"included":[130],"depending":[131,361],"actual":[134,364],"application.":[136,366],"Exploiting":[137],"differential":[139],"geometric":[140],"properties":[141],"determine":[151],"orientation":[153,394],"angular":[155,397],"end-effector":[159],"trajectory.":[163],"methods":[166],"are":[167],"demonstrated":[168],"manipulator":[172],"real":[175],"Note":[179],"Practitioners\u2014Robotic":[181],"manipulators":[182],"five-axis":[184],"computerized":[185],"numerical":[186],"control":[187],"(CNC)":[188],"machines":[189],"provide":[190],"high":[191],"flexibility":[192],"processes":[195],"surfaces,":[199],"example,":[201],"polishing":[202],"or":[203,273],"grinding.":[204],"For":[205],"these":[206],"applications,":[207],"it":[208],"often":[210],"desired":[211,358],"that":[212],"distance":[214],"between":[215,250],"two":[216],"subsequent":[217],"paths":[219,239],"independent":[221],"geometry":[225,267,381],"curvature.":[228],"novel":[233],"plan":[236,347,391],"coverage":[238,318],"Therefore,":[245],"we":[246,388],"develop":[247],"transformation":[249],"3-D":[252,275],"2-D":[257],"parameters":[258],"arc-lengths":[262],"by":[270],"CAD":[271],"data":[272],"scan":[276],"part":[279],"processed,":[283],"making":[284],"our":[285],"approach":[286,410],"particularly":[287],"feasible":[288],"both":[290],"large":[291],"small":[293],"batch":[294],"sizes":[295],"even":[297],"individualized":[298],"products.":[299],"To":[300],"cover":[301],"arbitrary":[303],"area":[304],"parallel":[306],"paths,":[307],"its":[308,396],"boundary\u2014given":[309],"coordinates\u2014is":[312],"transformed":[313,337],"into":[314],"parameters.":[316],"this":[323,354],"space,":[325],"consisting":[326],"parallel,":[328],"lines":[330],"interconnection":[332],"paths.":[333],"using":[342],"transformation.":[345],"We":[346,403],"motion":[349,408],"path,":[355],"satisfying":[356],"feed":[359],"rate":[360],"slowed":[370],"down":[371],"when":[372],"acceleration":[376],"reached.":[378],"Considering":[379],"surface,":[387],"tool\u2019s":[393],"during":[399],"manufacturing":[401],"task.":[402],"demonstrate":[404],"experimental":[413],"setup":[414],"manipulator.":[418]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
