{"id":"https://openalex.org/W4386915727","doi":"https://doi.org/10.1515/jisys-2023-0050","title":"CMOR motion planning and accuracy control for heavy-duty robots","display_name":"CMOR motion planning and accuracy control for heavy-duty robots","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4386915727","doi":"https://doi.org/10.1515/jisys-2023-0050"},"language":"en","primary_location":{"id":"doi:10.1515/jisys-2023-0050","is_oa":true,"landing_page_url":"https://doi.org/10.1515/jisys-2023-0050","pdf_url":"https://www.degruyter.com/document/doi/10.1515/jisys-2023-0050/pdf","source":{"id":"https://openalex.org/S2764846071","display_name":"Journal of Intelligent Systems","issn_l":"0334-1860","issn":["0334-1860","2191-026X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315148","host_organization_name":"IlmuKomputer.Com","host_organization_lineage":["https://openalex.org/P4310315148"],"host_organization_lineage_names":["IlmuKomputer.Com"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.1515/jisys-2023-0050/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092854463","display_name":"Congju Zuo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114698","display_name":"Institute of Plasma Physics","ror":"https://ror.org/033cbzv42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210114698"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210115169","display_name":"Second Artillery General Hospital of Chinese People's Liberation Army","ror":"https://ror.org/0264qnp36","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210115169"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Congju Zuo","raw_affiliation_strings":["Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China","Institute of Plasma Physics, Hefei Institutes of Physical Sciences, Chinese Academy of Sciences , Hefei , 230031 , China","Science Island Branch of Graduate School, University of Science and Technology of China , 230031 , Hefei , China"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China","institution_ids":["https://openalex.org/I4210115169"]},{"raw_affiliation_string":"Institute of Plasma Physics, Hefei Institutes of Physical Sciences, Chinese Academy of Sciences , Hefei , 230031 , China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210114698","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Science Island Branch of Graduate School, University of Science and Technology of China , 230031 , Hefei , China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462313","display_name":"Weihua Wang","orcid":"https://orcid.org/0000-0002-2269-1952"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]},{"id":"https://openalex.org/I4210114698","display_name":"Institute of Plasma Physics","ror":"https://ror.org/033cbzv42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210114698"]},{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Wang","raw_affiliation_strings":["Institute of Physical Science and Information Technology, Anhui University , 230031 , Hefei , China","Institute of Plasma Physics, Hefei Institutes of Physical Sciences, Chinese Academy of Sciences , Hefei , 230031 , China"],"affiliations":[{"raw_affiliation_string":"Institute of Physical Science and Information Technology, Anhui University , 230031 , Hefei , China","institution_ids":["https://openalex.org/I143868143"]},{"raw_affiliation_string":"Institute of Plasma Physics, Hefei Institutes of Physical Sciences, Chinese Academy of Sciences , Hefei , 230031 , China","institution_ids":["https://openalex.org/I2802624667","https://openalex.org/I4210114698","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050025410","display_name":"Liang Xia","orcid":"https://orcid.org/0000-0001-6928-0854"},"institutions":[{"id":"https://openalex.org/I4210115169","display_name":"Second Artillery General Hospital of Chinese People's Liberation Army","ror":"https://ror.org/0264qnp36","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210115169"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Xia","raw_affiliation_strings":["Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China","institution_ids":["https://openalex.org/I4210115169"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048542741","display_name":"Feng Wang","orcid":"https://orcid.org/0000-0002-3723-8595"},"institutions":[{"id":"https://openalex.org/I4210115169","display_name":"Second Artillery General Hospital of Chinese People's Liberation Army","ror":"https://ror.org/0264qnp36","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210115169"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Wang","raw_affiliation_strings":["Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China","institution_ids":["https://openalex.org/I4210115169"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108063879","display_name":"Pucheng Zhou","orcid":"https://orcid.org/0000-0001-9969-3086"},"institutions":[{"id":"https://openalex.org/I4210115169","display_name":"Second Artillery General Hospital of Chinese People's Liberation Army","ror":"https://ror.org/0264qnp36","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210115169"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pucheng Zhou","raw_affiliation_strings":["Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China","institution_ids":["https://openalex.org/I4210115169"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112891823","display_name":"Leiji Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115169","display_name":"Second Artillery General Hospital of Chinese People's Liberation Army","ror":"https://ror.org/0264qnp36","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210115169"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Leiji Lu","raw_affiliation_strings":["Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Army Academy of Artillery and Air Defense , 230031 , Hefei , China","institution_ids":["https://openalex.org/I4210115169"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5092854463"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I19820366","https://openalex.org/I2802624667","https://openalex.org/I4210114698","https://openalex.org/I4210115169"],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13752368,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9977999925613403,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/heavy-duty","display_name":"Heavy duty","score":0.7864928245544434},{"id":"https://openalex.org/keywords/duty","display_name":"Duty","score":0.6183691024780273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5669192671775818},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5378406047821045},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5031289458274841},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4862862825393677},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4550524652004242},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3167596459388733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15721353888511658},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.07754570245742798},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.07474163174629211},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.05937403440475464}],"concepts":[{"id":"https://openalex.org/C2993573757","wikidata":"https://www.wikidata.org/wiki/Q3784054","display_name":"Heavy duty","level":2,"score":0.7864928245544434},{"id":"https://openalex.org/C2779103253","wikidata":"https://www.wikidata.org/wiki/Q878070","display_name":"Duty","level":2,"score":0.6183691024780273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5669192671775818},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5378406047821045},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5031289458274841},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4862862825393677},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4550524652004242},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3167596459388733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15721353888511658},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.07754570245742798},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.07474163174629211},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.05937403440475464}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1515/jisys-2023-0050","is_oa":true,"landing_page_url":"https://doi.org/10.1515/jisys-2023-0050","pdf_url":"https://www.degruyter.com/document/doi/10.1515/jisys-2023-0050/pdf","source":{"id":"https://openalex.org/S2764846071","display_name":"Journal of Intelligent Systems","issn_l":"0334-1860","issn":["0334-1860","2191-026X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315148","host_organization_name":"IlmuKomputer.Com","host_organization_lineage":["https://openalex.org/P4310315148"],"host_organization_lineage_names":["IlmuKomputer.Com"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:40f3c037a1fe4c5dabe4d3b573bf7c85","is_oa":true,"landing_page_url":"https://doaj.org/article/40f3c037a1fe4c5dabe4d3b573bf7c85","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Intelligent Systems, Vol 32, Iss 1, Pp 2240060-11 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1515/jisys-2023-0050","is_oa":true,"landing_page_url":"https://doi.org/10.1515/jisys-2023-0050","pdf_url":"https://www.degruyter.com/document/doi/10.1515/jisys-2023-0050/pdf","source":{"id":"https://openalex.org/S2764846071","display_name":"Journal of Intelligent Systems","issn_l":"0334-1860","issn":["0334-1860","2191-026X"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315148","host_organization_name":"IlmuKomputer.Com","host_organization_lineage":["https://openalex.org/P4310315148"],"host_organization_lineage_names":["IlmuKomputer.Com"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386915727.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1993012096","https://openalex.org/W2769663794","https://openalex.org/W2902320472","https://openalex.org/W2953579565","https://openalex.org/W2955213622","https://openalex.org/W2965345988","https://openalex.org/W2966203057","https://openalex.org/W2999253226","https://openalex.org/W3006673428","https://openalex.org/W3007959982","https://openalex.org/W3032631734","https://openalex.org/W3044585492","https://openalex.org/W3084443617","https://openalex.org/W3085857662","https://openalex.org/W3108383633","https://openalex.org/W3118484839","https://openalex.org/W3118783177","https://openalex.org/W3126243090","https://openalex.org/W3126809089","https://openalex.org/W3152978417","https://openalex.org/W3153206509","https://openalex.org/W3163610657","https://openalex.org/W3175539001","https://openalex.org/W3187694664","https://openalex.org/W3200640494","https://openalex.org/W4220662381","https://openalex.org/W4295714628","https://openalex.org/W4321033361"],"related_works":["https://openalex.org/W4312306971","https://openalex.org/W2997506111","https://openalex.org/W1004284243","https://openalex.org/W11572866","https://openalex.org/W3010817543","https://openalex.org/W4283066974","https://openalex.org/W4242190929","https://openalex.org/W4308106770","https://openalex.org/W4241277874","https://openalex.org/W4250058680"],"abstract_inverted_index":{"Abstract":[0],"Factors":[1],"like":[2],"rising":[3],"work":[4],"costs":[5],"and":[6,10,36,42,62,128,162,254],"the":[7,17,21,30,33,50,56,79,95,120,123,129,137,141,148,153,156,159,165,169,176,179,210,240,244],"imminent":[8],"transformation":[9],"upgrading":[11],"of":[12,20,32,69,77,82,94,126,133,140,145,147,158,164,168,173,175,243],"manufacturing":[13],"industries":[14],"are":[15],"driving":[16],"rapid":[18],"development":[19],"industrial":[22],"robotics":[23],"market.":[24],"In":[25],"this":[26],"study,":[27],"by":[28,113],"analyzing":[29],"structure":[31],"transport":[34,96],"arm":[35,97],"China":[37],"Fusion":[38],"Engineering":[39],"Test":[40],"Reactor":[41],"performing":[43],"mathematical":[44],"modeling,":[45],"a":[46,74,110,114],"feasible":[47],"solution":[48],"for":[49,66],"robot":[51,177],"can":[52,135,182,236,248],"be":[53,183,237,249,252],"obtained":[54],"using":[55],"dynamic":[57],"ant":[58],"colony":[59],"optimization":[60],"algorithm":[61,101],"grayscale":[63],"values.":[64],"However,":[65],"multiple":[67],"degree":[68],"freedom":[70],"robots,":[71],"due":[72],"to":[73,151,209,251],"large":[75],"number":[76],"joints,":[78],"pure":[80],"use":[81],"joint":[83],"angle":[84],"restrictions":[85],"cannot":[86],"avoid":[87],"their":[88],"own":[89,99],"mutual":[90],"interference.":[91],"The":[92,116,185],"design":[93],"robot\u2019s":[98],"collision":[100],"is":[102],"shown,":[103],"which":[104,152],"focuses":[105],"on":[106],"each":[107],"linkage":[108],"as":[109],"rod":[111],"wrapped":[112],"cylinder.":[115],"experiment":[117],"shows":[118],"that":[119],"relationship":[121,154],"between":[122,155],"integrated":[124],"center":[125,132,144,172],"mass":[127,134,146,174],"whole":[130,142,170],"machine":[131,143,171],"get":[136],"action":[138],"area":[139,167],"robot,":[149],"according":[150,208],"radius":[157,189],"catch":[160],"circle":[161,188],"time":[163],"projection":[166],"in":[178],"horizontal":[180],"plane":[181],"obtained.":[184],"maximum":[186],"outer":[187],"<m:math":[190,213],"xmlns:m=\"http://www.w3.org/1998/Math/MathML\">":[191,214],"<m:msub>":[192,215,224],"<m:mrow>":[193,196,216,219,225,228],"<m:mi>r</m:mi>":[194,217,226],"</m:mrow>":[195,198,218,221,227,230],"<m:mtext>com</m:mtext>":[197],"</m:msub>":[199,222,231],"<m:mo>=</m:mo>":[200],"<m:mn>267.977</m:mn>":[201],"<m:mspace":[202],"width=\".25em\"/>":[203],"<m:mtext>mm</m:mtext>":[204],"</m:math>":[205,232],"{r}_{\\text{com}}=267.977\\hspace{.25em}\\text{mm}":[206],",":[207,235],"stability":[211,241],"criterion":[212],"<m:mtext>ssa</m:mtext>":[220],"<m:mo>&gt;</m:mo>":[223],"<m:mtext>con</m:mtext>":[229],"{r}_{\\text{ssa}}\\gt":[233],"{r}_{\\text{con}}":[234],"obtained,":[238],"so":[239],"analysis":[242],"gait":[245],"switching":[246],"process":[247],"judged":[250],"correct":[253],"effective.":[255]},"counts_by_year":[],"updated_date":"2026-02-28T09:26:25.869077","created_date":"2023-09-22T00:00:00"}
