{"id":"https://openalex.org/W1996144577","doi":"https://doi.org/10.1177/027836498900800302","title":"Simulated Off-Line Programming of Welding Robots","display_name":"Simulated Off-Line Programming of Welding Robots","publication_year":1989,"publication_date":"1989-06-01","ids":{"openalex":"https://openalex.org/W1996144577","doi":"https://doi.org/10.1177/027836498900800302","mag":"1996144577"},"language":"en","primary_location":{"id":"doi:10.1177/027836498900800302","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800302","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5085071389","display_name":"Ralph O. Buchal","orcid":null},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"R.O. Buchal","raw_affiliation_strings":["Department of Mechanical Engineering University of Western Ontario London, Ontario, Canada N6A 5B9"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of Western Ontario London, Ontario, Canada N6A 5B9","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046992637","display_name":"D.B. Cherchas","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"D.B. Cherchas","raw_affiliation_strings":["Department of Mechanical Engineering University of British Columbia Vancouver, British Columbia, Canada V6T 1W5","Department of Mechanical Engineering, University of British Columbia, Vancouver, British Columbia, Canada V6T 1W5"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of British Columbia Vancouver, British Columbia, Canada V6T 1W5","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of British Columbia, Vancouver, British Columbia, Canada V6T 1W5","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064660803","display_name":"Farrokh Sassani","orcid":"https://orcid.org/0000-0001-8913-5224"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Sassani","raw_affiliation_strings":["Department of Mechanical Engineering University of British Columbia Vancouver, British Columbia, Canada V6T 1W5","Department of Mechanical Engineering, University of British Columbia, Vancouver, British Columbia, Canada V6T 1W5"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of British Columbia Vancouver, British Columbia, Canada V6T 1W5","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of British Columbia, Vancouver, British Columbia, Canada V6T 1W5","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108403140","display_name":"Joanne P. Duncan","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"J.P. Duncan","raw_affiliation_strings":["Department of Mechanical Engineering University of British Columbia Vancouver, British Columbia, Canada V6T 1W5","Department of Mechanical Engineering, University of British Columbia, Vancouver, British Columbia, Canada V6T 1W5"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering University of British Columbia Vancouver, British Columbia, Canada V6T 1W5","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of British Columbia, Vancouver, British Columbia, Canada V6T 1W5","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085071389"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":3.7086,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.92553531,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"8","issue":"3","first_page":"31","last_page":"43"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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/welding","display_name":"Welding","score":0.6542249321937561},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6452906131744385},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5958630442619324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5930042862892151},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5652340650558472},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5521218776702881},{"id":"https://openalex.org/keywords/robot-welding","display_name":"Robot welding","score":0.5309697389602661},{"id":"https://openalex.org/keywords/workstation","display_name":"Workstation","score":0.49861598014831543},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.45795807242393494},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.4420890808105469},{"id":"https://openalex.org/keywords/interference","display_name":"Interference (communication)","score":0.42885932326316833},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4155053198337555},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39415428042411804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35920804738998413},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32706373929977417},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3136574625968933},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2115139663219452},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21147280931472778}],"concepts":[{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.6542249321937561},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6452906131744385},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5958630442619324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5930042862892151},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5652340650558472},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5521218776702881},{"id":"https://openalex.org/C118198166","wikidata":"https://www.wikidata.org/wiki/Q2327264","display_name":"Robot welding","level":3,"score":0.5309697389602661},{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.49861598014831543},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.45795807242393494},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.4420890808105469},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.42885932326316833},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4155053198337555},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39415428042411804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35920804738998413},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32706373929977417},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3136574625968933},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2115139663219452},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21147280931472778},{"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},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/027836498900800302","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836498900800302","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W561084647","https://openalex.org/W564464462","https://openalex.org/W658174173","https://openalex.org/W1582353822","https://openalex.org/W1977866635","https://openalex.org/W2060192308","https://openalex.org/W2089674500","https://openalex.org/W2131286638","https://openalex.org/W2246023205","https://openalex.org/W2310714672"],"related_works":["https://openalex.org/W2125564439","https://openalex.org/W2045348955","https://openalex.org/W2352028719","https://openalex.org/W2584886384","https://openalex.org/W1990245398","https://openalex.org/W2378667902","https://openalex.org/W2052769075","https://openalex.org/W1970565298","https://openalex.org/W1605425324","https://openalex.org/W2373991279"],"abstract_inverted_index":{"The":[0,135],"objectives":[1],"of":[2,18,67,76,105],"the":[3,47,130],"work":[4],"described":[5],"in":[6,22,146],"this":[7],"paper":[8],"are":[9,63,119],"to":[10,27,45],"develop":[11,28],"and":[12,39,44,59,93,141],"evaluate":[13],"a":[14,23,29,82,147],"method":[15,66],"for":[16,102,129],"calculation":[17,69,75],"interference":[19,68,77],"between":[20,78],"objects":[21],"robot":[24,30],"welding":[25,40,106,132],"workstation,":[26],"trajectory":[31,48],"planning":[32,49],"technique":[33],"recognizing":[34],"interference,":[35],"inverse":[36,126],"kinematics":[37,117],"constraints,":[38],"parameter":[41],"re":[42],"quirements,":[43],"demonstrate":[46],"tech":[50],"nique":[51],"using":[52,81,143],"advanced":[53],"computer":[54],"graphics.":[55],"Workstation":[56],"mod":[57,100],"eling":[58],"relevant":[60],"kinematic":[61,127],"relationships":[62],"discussed.":[64],"A":[65,98,153],"is":[70,108],"developed":[71],"which":[72],"allows":[73],"rapid":[74],"convex":[79],"polyhedra":[80],"steepest":[83],"descent":[84],"graph":[85],"search.":[86],"If":[87],"desired,":[88],"exact":[89],"sepa":[90],"rating":[91],"distances":[92],"directions":[94],"can":[95],"be":[96],"found.":[97],"simple":[99],"ule":[101],"automatic":[103],"selection":[104],"parameters":[107],"de":[109],"scribed.":[110],"Interference-free":[111],"trajectories":[112],"that":[113],"do":[114],"not":[115],"violate":[116],"constraints":[118],"found":[120],"by":[121],"searching":[122],"among":[123],"possi":[124],"ble":[125],"solutions":[128],"desired":[131],"torch":[133],"trajectory.":[134],"above":[136],"methods":[137],"have":[138],"been":[139],"combined":[140],"implemented":[142],"interactive":[144],"graphics":[145],"prototype":[148],"soft":[149],"ware":[150],"package":[151],"called":[152],"UTO":[154],"WELD.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
