{"id":"https://openalex.org/W3003250870","doi":"https://doi.org/10.1109/tii.2020.2970172","title":"Repetitive Motion Planning of Robotic Manipulators With Guaranteed Precision","display_name":"Repetitive Motion Planning of Robotic Manipulators With Guaranteed Precision","publication_year":2020,"publication_date":"2020-01-29","ids":{"openalex":"https://openalex.org/W3003250870","doi":"https://doi.org/10.1109/tii.2020.2970172","mag":"3003250870"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2020.2970172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2970172","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","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/A5057914321","display_name":"Dongsheng Guo","orcid":"https://orcid.org/0000-0002-8304-2788"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dongsheng Guo","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053592535","display_name":"Zexin Li","orcid":"https://orcid.org/0000-0001-8758-2151"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zexin Li","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002501779","display_name":"Ameer Hamza Khan","orcid":"https://orcid.org/0000-0002-5367-5277"},"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":"Ameer Hamza Khan","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065053477","display_name":"Qingshan Feng","orcid":"https://orcid.org/0000-0002-3902-4005"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingshan Feng","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen, China","institution_ids":["https://openalex.org/I119045251"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076788733","display_name":"Jianhuang Cai","orcid":"https://orcid.org/0000-0002-5627-0697"},"institutions":[{"id":"https://openalex.org/I119045251","display_name":"Huaqiao University","ror":"https://ror.org/03frdh605","country_code":"CN","type":"education","lineage":["https://openalex.org/I119045251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhuang Cai","raw_affiliation_strings":["College of Information Science and Engineering, Huaqiao University, Xiamen, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Huaqiao University, Xiamen, China","institution_ids":["https://openalex.org/I119045251"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5057914321"],"corresponding_institution_ids":["https://openalex.org/I119045251"],"apc_list":null,"apc_paid":null,"fwci":4.4135,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.94800786,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"17","issue":"1","first_page":"356","last_page":"366"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9975000023841858,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/realizability","display_name":"Realizability","score":0.7412000894546509},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.673997700214386},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6287117600440979},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6160612106323242},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.548362672328949},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.542064905166626},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4883112907409668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4878542423248291},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.47497624158859253},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.4668460786342621},{"id":"https://openalex.org/keywords/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.4646681249141693},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43243855237960815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4145333468914032},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41311848163604736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36508238315582275},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3466629385948181},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2690381705760956},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2545589208602905},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16326269507408142},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10992977023124695},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07657712697982788},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.07224088907241821}],"concepts":[{"id":"https://openalex.org/C2776378722","wikidata":"https://www.wikidata.org/wiki/Q3454417","display_name":"Realizability","level":2,"score":0.7412000894546509},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.673997700214386},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6287117600440979},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6160612106323242},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.548362672328949},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.542064905166626},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4883112907409668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4878542423248291},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.47497624158859253},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.4668460786342621},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.4646681249141693},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43243855237960815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4145333468914032},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41311848163604736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36508238315582275},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3466629385948181},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2690381705760956},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2545589208602905},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16326269507408142},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10992977023124695},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07657712697982788},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.07224088907241821},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2020.2970172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2020.2970172","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G6353623100","display_name":null,"funder_award_id":"61603143","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W76314153","https://openalex.org/W405308472","https://openalex.org/W2038533008","https://openalex.org/W2050586213","https://openalex.org/W2100940538","https://openalex.org/W2124817468","https://openalex.org/W2129644801","https://openalex.org/W2139647291","https://openalex.org/W2266847535","https://openalex.org/W2526749720","https://openalex.org/W2586643027","https://openalex.org/W2586662914","https://openalex.org/W2595448953","https://openalex.org/W2744482715","https://openalex.org/W2744681902","https://openalex.org/W2762047082","https://openalex.org/W2764226165","https://openalex.org/W2766113111","https://openalex.org/W2779147390","https://openalex.org/W2791994602","https://openalex.org/W2792852625","https://openalex.org/W2826680307","https://openalex.org/W2889005814","https://openalex.org/W2896719349","https://openalex.org/W2900697371","https://openalex.org/W2912762242","https://openalex.org/W2915278269","https://openalex.org/W2937480306","https://openalex.org/W2955749729","https://openalex.org/W2978371710","https://openalex.org/W4247080625"],"related_works":["https://openalex.org/W2998185885","https://openalex.org/W2412971645","https://openalex.org/W2999077999","https://openalex.org/W3137303152","https://openalex.org/W2124302230","https://openalex.org/W1520438348","https://openalex.org/W2159353126","https://openalex.org/W2583679332","https://openalex.org/W2283715810","https://openalex.org/W2323794639"],"abstract_inverted_index":{"Repetitive":[0],"motion":[1,32,83],"planning":[2],"(RMP)":[3],"plays":[4],"a":[5,39,54,89,94,126],"remarkable":[6],"role":[7],"in":[8],"the":[9,17,23,60,102,106,115,123],"operation":[10],"of":[11,19,26,88,105,114],"robotic":[12,20,50,91,96,129],"manipulators.":[13],"In":[14,37],"this":[15],"article,":[16],"RMP":[18,43,62,109],"manipulators":[21,51],"wherein":[22],"high":[24],"precision":[25,80],"joint":[27,77],"angle":[28,78],"repeatability":[29],"and":[30,47,72,81,93],"end-effector":[31,82],"is":[33,35,45,69,118],"guaranteed":[34],"investigated.":[36],"particular,":[38],"novel":[40],"pseudoinverse-based":[41],"(P-based)":[42],"scheme":[44,63,68,117,124],"designed":[46],"proposed":[48,107,116],"for":[49],"by":[52,121],"applying":[53],"special":[55],"difference":[56],"rule":[57],"to":[58,74,100],"discretize":[59],"existing":[61],"with":[64],"P-based":[65,108],"formulation.":[66],"Such":[67],"theoretically":[70],"analyzed":[71],"proven":[73],"simultaneously":[75],"guarantee":[76],"repetitive":[79],"precision.":[84],"Comparative":[85],"simulation":[86],"results":[87],"five-link":[90],"manipulator":[92,97],"universal":[95],"are":[98],"provided":[99],"verify":[101],"effective":[103],"performance":[104],"scheme.":[110],"The":[111],"physical":[112],"realizability":[113],"further":[119],"substantiated":[120],"implementing":[122],"on":[125],"practical":[127],"EPSON":[128],"manipulator.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
