{"id":"https://openalex.org/W4390421999","doi":"https://doi.org/10.1109/tase.2023.3346693","title":"A Convex Optimization Method to Time-Optimal Trajectory Planning With Jerk Constraint for Industrial Robotic Manipulators","display_name":"A Convex Optimization Method to Time-Optimal Trajectory Planning With Jerk Constraint for Industrial Robotic Manipulators","publication_year":2023,"publication_date":"2023-12-29","ids":{"openalex":"https://openalex.org/W4390421999","doi":"https://doi.org/10.1109/tase.2023.3346693"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3346693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3346693","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/A5101940672","display_name":"Chen Ji","orcid":"https://orcid.org/0000-0002-8489-2362"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Ji","raw_affiliation_strings":["School of Mechanical Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101603490","display_name":"Zhongqiang Zhang","orcid":"https://orcid.org/0000-0002-3485-777X"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongqiang Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076667064","display_name":"Guanggui Cheng","orcid":"https://orcid.org/0000-0001-7327-4836"},"institutions":[{"id":"https://openalex.org/I115592961","display_name":"Jiangsu University","ror":"https://ror.org/03jc41j30","country_code":"CN","type":"education","lineage":["https://openalex.org/I115592961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanggui Cheng","raw_affiliation_strings":["School of Mechanical Engineering, Jiangsu University, Zhenjiang, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Jiangsu University, Zhenjiang, China","institution_ids":["https://openalex.org/I115592961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023674699","display_name":"Minxiu Kong","orcid":"https://orcid.org/0000-0001-6324-3796"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minxiu Kong","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100639939","display_name":"Ruifeng Li","orcid":"https://orcid.org/0000-0002-1383-7745"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruifeng Li","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101940672"],"corresponding_institution_ids":["https://openalex.org/I115592961"],"apc_list":null,"apc_paid":null,"fwci":6.0306,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.97017424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"21","issue":"4","first_page":"7629","last_page":"7646"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.968500018119812,"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":0.9663035869598389},{"id":"https://openalex.org/keywords/convexity","display_name":"Convexity","score":0.6928250789642334},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5776417255401611},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5440958142280579},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5208981037139893},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47545143961906433},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47212037444114685},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.46013182401657104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4190748333930969},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.41855162382125854},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4155629873275757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18509739637374878},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12800931930541992},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.07990381121635437}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.9663035869598389},{"id":"https://openalex.org/C72134830","wikidata":"https://www.wikidata.org/wiki/Q5166524","display_name":"Convexity","level":2,"score":0.6928250789642334},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5776417255401611},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5440958142280579},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5208981037139893},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47545143961906433},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47212037444114685},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.46013182401657104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4190748333930969},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.41855162382125854},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4155629873275757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18509739637374878},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12800931930541992},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.07990381121635437},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2023.3346693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3346693","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":0.5400000214576721,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1967911984","https://openalex.org/W2005996430","https://openalex.org/W2036354252","https://openalex.org/W2099454002","https://openalex.org/W2115091574","https://openalex.org/W2142981033","https://openalex.org/W2152421929","https://openalex.org/W2152616154","https://openalex.org/W2521872104","https://openalex.org/W2768566548","https://openalex.org/W2793826897","https://openalex.org/W2902825402","https://openalex.org/W2903182878","https://openalex.org/W2921328390","https://openalex.org/W2923302867","https://openalex.org/W2944268343","https://openalex.org/W2962705926","https://openalex.org/W2964057747","https://openalex.org/W3035291983","https://openalex.org/W3100509213","https://openalex.org/W3104826626","https://openalex.org/W3130728025","https://openalex.org/W3163772393","https://openalex.org/W3194859486","https://openalex.org/W3203782659","https://openalex.org/W4205114194","https://openalex.org/W4221004928","https://openalex.org/W4229036805","https://openalex.org/W4280610690","https://openalex.org/W4285295739"],"related_works":["https://openalex.org/W2940405130","https://openalex.org/W2363211409","https://openalex.org/W2376481828","https://openalex.org/W2390990501","https://openalex.org/W2035309570","https://openalex.org/W2002792507","https://openalex.org/W2348787543","https://openalex.org/W4226280031","https://openalex.org/W2369773818","https://openalex.org/W2756132392"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2,181],"a":[3,32,37,68,91,120,182],"convex":[4,69,184,234],"time-optimal":[5,153],"trajectory":[6,106,131,226],"planning":[7],"method":[8,71,79,101,118,186,219,244],"for":[9,133,155],"industrial":[10,134,156,249],"robotic":[11,135],"manipulators":[12,157],"with":[13,42,205],"jerk":[14,59,128,160,172,189,239],"constraints.":[15,163,176,193,240],"To":[16],"achieve":[17,75,225],"smooth":[18,151],"and":[19,36,57,67,90,105,112,152,161,202,212,228],"efficient":[20],"trajectories,":[21],"the":[22,25,43,47,53,64,99,110,125,147,206,217,233,238,242],"square":[23],"of":[24,46,127,149,237],"pseudo":[26,54],"velocity":[27],"profile":[28],"is":[29,40,72,80,245,253],"constructed":[30],"using":[31],"cubic":[33],"uniform":[34],"B-spline,":[35],"linear":[38],"relationship":[39],"defined":[41],"control":[44],"points":[45],"B-spline":[48],"to":[49,74,123,140,224,232,247],"preserve":[50],"convexity":[51],"in":[52,63,109,130],"states.":[55],"Bi-linear":[56],"non-convex":[58],"constraints":[60,129,173,190],"are":[61,197],"introduced":[62],"optimization":[65,95,114,132,185],"problem,":[66],"restriction":[70,235],"applied":[73],"convexity.":[76],"The":[77,116,210],"proposed":[78,100,117,218,243],"evaluated":[81],"through":[82],"three":[83],"case":[84,195],"studies:":[85],"two":[86],"contour":[87],"following":[88],"tasks":[89],"pick-and-place":[92],"task.":[93],"Comparative":[94],"results":[96,214],"demonstrate":[97,215],"that":[98,170,187,216],"achieves":[102],"time":[103,222],"optimality":[104,223],"smoothness":[107,227],"simultaneously":[108],"reformulated":[111],"jerk-restricted":[113],"problem.":[115],"provides":[119],"practical":[121],"approach":[122],"address":[124],"non-convexity":[126],"manipulators.":[136,250],"<italic":[137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[139],"Practitioners</i>":[141],"\u2014This":[142],"work":[143,180],"was":[144],"motivated":[145],"by":[146],"challenge":[148],"generating":[150],"trajectories":[154],"while":[158],"considering":[159],"dynamic":[162],"Existing":[164],"approaches":[165],"typically":[166],"use":[167],"multi-objective":[168],"methods":[169],"treat":[171],"as":[174,191],"soft":[175],"In":[177],"contrast,":[178],"this":[179],"B-spline-based":[183],"treats":[188],"hard":[192],"Three":[194],"studies":[196],"conducted,":[198],"involving":[199],"butterfly-type,":[200],"door-type":[201],"\u2018OPTEC\u2019-type":[203],"paths,":[204],"UR5":[207],"cooperative":[208],"robot.":[209],"numerical":[211],"experimental":[213],"sacrifices":[220],"some":[221],"computational":[229],"efficiency":[230],"due":[231],"reformulation":[236],"Moreover,":[241],"applicable":[246],"general":[248],"Supplementary":[251],"video":[252],"available":[254],"at":[255],"https://youtu.be/gVz5IuPKD-o.":[256]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
