{"id":"https://openalex.org/W4205750219","doi":"https://doi.org/10.1109/tro.2021.3108506","title":"Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud","display_name":"Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud","publication_year":2021,"publication_date":"2021-12-08","ids":{"openalex":"https://openalex.org/W4205750219","doi":"https://doi.org/10.1109/tro.2021.3108506"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3108506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3108506","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5100367436","display_name":"Gang Wang","orcid":"https://orcid.org/0000-0003-0472-8843"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gang Wang","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-0472-8843","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100425944","display_name":"Wenlong Li","orcid":"https://orcid.org/0000-0002-5351-7076"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlong Li","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-5351-7076","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082713325","display_name":"Cheng Jiang","orcid":"https://orcid.org/0000-0003-3084-1321"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Jiang","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-3084-1321","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040552634","display_name":"Dahu Zhu","orcid":"https://orcid.org/0000-0002-9864-0473"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dahu Zhu","raw_affiliation_strings":["Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-9864-0473","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan, China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726890","display_name":"Zhongwei Li","orcid":"https://orcid.org/0000-0003-4651-4763"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongwei Li","raw_affiliation_strings":["State Key Laboratory of Material Processing and Die and Mould Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Material Processing and Die and Mould Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101883725","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0002-8818-3918"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-8818-3918","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023402630","display_name":"Huan Zhao","orcid":"https://orcid.org/0000-0002-1589-5375"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Zhao","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-1589-5375","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057513904","display_name":"Han Ding","orcid":"https://orcid.org/0000-0003-2905-6369"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Ding","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100367436"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":9.0211,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.98478423,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"38","issue":"3","first_page":"1621","last_page":"1637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994999766349792,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9980999827384949,"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/machining","display_name":"Machining","score":0.7879968881607056},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5115326642990112},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4895506799221039},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.45419836044311523},{"id":"https://openalex.org/keywords/clamping","display_name":"Clamping","score":0.4516333043575287},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4515397846698761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4466203451156616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41401612758636475},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.37573981285095215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36568450927734375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22083517909049988},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18658971786499023}],"concepts":[{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.7879968881607056},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5115326642990112},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4895506799221039},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.45419836044311523},{"id":"https://openalex.org/C84111939","wikidata":"https://www.wikidata.org/wiki/Q5125465","display_name":"Clamping","level":2,"score":0.4516333043575287},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4515397846698761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4466203451156616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41401612758636475},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.37573981285095215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36568450927734375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22083517909049988},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18658971786499023},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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":1,"locations":[{"id":"doi:10.1109/tro.2021.3108506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3108506","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1665877077","display_name":null,"funder_award_id":"52075203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2062592481","display_name":null,"funder_award_id":"52090054","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G234177690","display_name":null,"funder_award_id":"52188102","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":38,"referenced_works":["https://openalex.org/W647721327","https://openalex.org/W1982968486","https://openalex.org/W1989772468","https://openalex.org/W1995057935","https://openalex.org/W1996869048","https://openalex.org/W2001424961","https://openalex.org/W2020909219","https://openalex.org/W2031108551","https://openalex.org/W2043895073","https://openalex.org/W2045741421","https://openalex.org/W2053440176","https://openalex.org/W2060631768","https://openalex.org/W2067782492","https://openalex.org/W2072578400","https://openalex.org/W2079517316","https://openalex.org/W2082513057","https://openalex.org/W2083378861","https://openalex.org/W2109416974","https://openalex.org/W2122761880","https://openalex.org/W2153628631","https://openalex.org/W2154395924","https://openalex.org/W2169164876","https://openalex.org/W2324701635","https://openalex.org/W2344935180","https://openalex.org/W2473975409","https://openalex.org/W2482636226","https://openalex.org/W2525627239","https://openalex.org/W2587753011","https://openalex.org/W2613924951","https://openalex.org/W2624869465","https://openalex.org/W2785362082","https://openalex.org/W2809692451","https://openalex.org/W3007907254","https://openalex.org/W3021369242","https://openalex.org/W3024803996","https://openalex.org/W3033019513","https://openalex.org/W3046156891","https://openalex.org/W3118928504"],"related_works":["https://openalex.org/W2047192493","https://openalex.org/W2174558087","https://openalex.org/W3216900515","https://openalex.org/W2375323968","https://openalex.org/W2365637644","https://openalex.org/W4232260776","https://openalex.org/W3139069345","https://openalex.org/W2070688558","https://openalex.org/W820893600","https://openalex.org/W2347768580"],"abstract_inverted_index":{"Industrial":[0],"robots":[1],"are":[2,48,154,222,251],"characterized":[3],"by":[4,81,176],"good":[5],"flexibility":[6],"and":[7,12,22,56,103,116,129,150,185,201,220,243,246],"a":[8,14,77,109,118,205,234],"large":[9,21,54],"working":[10],"space,":[11],"offer":[13],"new":[15],"approach":[16],"for":[17,32],"the":[18,68,83,124,133,146,170,174,178,182,186,189,208,213,216,229,244,249,254],"machining":[19,27,79,120,147,209,236,255],"of":[20,36,86,97,126,145,162,173,180,192,204,215,240,248],"complex":[23],"parts":[24,61,87],"with":[25],"small":[26],"allowances":[28],"(extra":[29],"material":[30],"allowed":[31],"subsequent":[33],"machining).":[34],"Parts":[35],"this":[37,107],"type":[38],"(such":[39],"as":[40,100],"aircraft":[41],"skin":[42],"parts,":[43],"wind":[44],"turbine":[45],"blades,":[46],"etc.)":[47],"easily":[49],"deformed":[50],"due":[51],"to":[52,67,75,114,167,198],"their":[53],"scale":[55],"low":[57],"stiffness.":[58],"Therefore,":[59],"these":[60],"cannot":[62],"be":[63],"directly":[64],"machined":[65],"according":[66],"designed":[69],"model.":[70],"A":[71],"feasible":[72],"method":[73,111,231],"is":[74,112,165,196,226],"plan":[76,115],"robotic":[78,119],"path":[80,121,148,175],"using":[82],"point":[84,134],"clouds":[85],"after":[88],"clamping":[89],"from":[90,136],"onsite":[91,137],"measurement":[92,98],"which":[93],"contains":[94],"inherent":[95],"defects":[96],"such":[99],"noise":[101],"points":[102,149,153],"abrupt":[104],"points.":[105],"In":[106],"article,":[108],"novel":[110],"proposed":[113,217,230],"optimize":[117,199],"that":[122,228],"meets":[123],"requirements":[125],"smoothness,":[127],"dexterity,":[128],"stiffness":[130,203],"based":[131],"on":[132],"cloud":[135],"measurement.":[138],"The":[139,238],"dual":[140],"nonuniform":[141],"rational":[142],"B-spline":[143],"curves":[144],"tool":[151],"axis":[152],"generated":[155],"at":[156],"first.":[157],"Next,":[158],"an":[159],"objective":[160,190],"function":[161,191],"smoothness":[163],"optimization":[164,195],"established":[166,197],"filter":[168],"out":[169],"local":[171],"mutation":[172],"considering":[177],"constraints":[179],"both":[181],"deformation":[183],"energy":[184],"deviation.":[187],"Then,":[188],"robot":[193,206,250],"postures":[194],"dexterity":[200,247],"Cartesian":[202],"during":[207,253],"process.":[210,256],"To":[211],"show":[212],"feasibility":[214],"method,":[218],"simulation":[219],"experiments":[221],"carried":[223],"out.":[224],"It":[225],"proved":[227],"can":[232],"generate":[233],"smooth":[235],"trajectory.":[237],"stability":[239],"joint":[241],"rotation":[242],"rigidity":[245],"improved":[252]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":38},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":17}],"updated_date":"2026-05-16T08:24:45.110214","created_date":"2025-10-10T00:00:00"}