{"id":"https://openalex.org/W4311003942","doi":"https://doi.org/10.3390/sym14122533","title":"Industrial Robot Contouring Control Based on Non-Uniform Rational B-Spline Curve","display_name":"Industrial Robot Contouring Control Based on Non-Uniform Rational B-Spline Curve","publication_year":2022,"publication_date":"2022-11-30","ids":{"openalex":"https://openalex.org/W4311003942","doi":"https://doi.org/10.3390/sym14122533"},"language":"en","primary_location":{"id":"doi:10.3390/sym14122533","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14122533","pdf_url":"https://www.mdpi.com/2073-8994/14/12/2533/pdf?version=1669800425","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/14/12/2533/pdf?version=1669800425","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100783079","display_name":"Guirong Wang","orcid":"https://orcid.org/0000-0002-2353-6241"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guirong Wang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035353674","display_name":"Jiahao Chen","orcid":"https://orcid.org/0000-0003-2148-2865"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Chen","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115603169","display_name":"Kun Zhou","orcid":"https://orcid.org/0000-0003-1726-4697"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Zhou","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103620377","display_name":"Zhihui Pang","orcid":null},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihui Pang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China","institution_ids":["https://openalex.org/I55538621"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100783079"],"corresponding_institution_ids":["https://openalex.org/I55538621"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":0.9754,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70400125,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"14","issue":"12","first_page":"2533","last_page":"2533"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9980000257492065,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.996999979019165,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9660000205039978,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/contouring","display_name":"Contouring","score":0.596082329750061},{"id":"https://openalex.org/keywords/tangent","display_name":"Tangent","score":0.5630884170532227},{"id":"https://openalex.org/keywords/curve-fitting","display_name":"Curve fitting","score":0.4953087866306305},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4936298131942749},{"id":"https://openalex.org/keywords/approximation-error","display_name":"Approximation error","score":0.4845380187034607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48438936471939087},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46946775913238525},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.4497246742248535},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.44914156198501587},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43591466546058655},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4248512089252472},{"id":"https://openalex.org/keywords/frenet\u2013serret-formulas","display_name":"Frenet\u2013Serret formulas","score":0.4120594561100006},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39155521988868713},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.3071122169494629},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2823905944824219},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16044718027114868},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1432831883430481},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09351935982704163}],"concepts":[{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.596082329750061},{"id":"https://openalex.org/C138187205","wikidata":"https://www.wikidata.org/wiki/Q131251","display_name":"Tangent","level":2,"score":0.5630884170532227},{"id":"https://openalex.org/C184389593","wikidata":"https://www.wikidata.org/wiki/Q603159","display_name":"Curve fitting","level":2,"score":0.4953087866306305},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4936298131942749},{"id":"https://openalex.org/C122383733","wikidata":"https://www.wikidata.org/wiki/Q865920","display_name":"Approximation error","level":2,"score":0.4845380187034607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48438936471939087},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46946775913238525},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.4497246742248535},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.44914156198501587},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43591466546058655},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4248512089252472},{"id":"https://openalex.org/C162546045","wikidata":"https://www.wikidata.org/wiki/Q947922","display_name":"Frenet\u2013Serret formulas","level":3,"score":0.4120594561100006},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39155521988868713},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.3071122169494629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2823905944824219},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16044718027114868},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1432831883430481},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09351935982704163},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/sym14122533","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14122533","pdf_url":"https://www.mdpi.com/2073-8994/14/12/2533/pdf?version=1669800425","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:eff4ecbb6a18488293d14884b956aada","is_oa":true,"landing_page_url":"https://doaj.org/article/eff4ecbb6a18488293d14884b956aada","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":"Symmetry, Vol 14, Iss 12, p 2533 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2073-8994/14/12/2533/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/sym14122533","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/sym14122533","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym14122533","pdf_url":"https://www.mdpi.com/2073-8994/14/12/2533/pdf?version=1669800425","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G4210691129","display_name":null,"funder_award_id":"LGG22F030001","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4311003942.pdf","grobid_xml":"https://content.openalex.org/works/W4311003942.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1967538980","https://openalex.org/W2003334848","https://openalex.org/W2036320639","https://openalex.org/W2098418776","https://openalex.org/W2124118563","https://openalex.org/W2146895301","https://openalex.org/W2395210433","https://openalex.org/W2522989482","https://openalex.org/W2525863087","https://openalex.org/W2786361761","https://openalex.org/W2888644581","https://openalex.org/W2958468005","https://openalex.org/W2980153297","https://openalex.org/W3004935805","https://openalex.org/W3041452260","https://openalex.org/W3100509213","https://openalex.org/W3118138224","https://openalex.org/W3135408503","https://openalex.org/W3136815633","https://openalex.org/W3158427689","https://openalex.org/W3190278062","https://openalex.org/W3200610005","https://openalex.org/W3207218347","https://openalex.org/W3213435474","https://openalex.org/W4200115731","https://openalex.org/W4226027596","https://openalex.org/W4229030851","https://openalex.org/W4229032803","https://openalex.org/W4253942914","https://openalex.org/W4297276647","https://openalex.org/W4304693588"],"related_works":["https://openalex.org/W2609788161","https://openalex.org/W2890994448","https://openalex.org/W4312766700","https://openalex.org/W2028761375","https://openalex.org/W1967787111","https://openalex.org/W2998181671","https://openalex.org/W2361423042","https://openalex.org/W1998010028","https://openalex.org/W2915337797","https://openalex.org/W2772988575"],"abstract_inverted_index":{"This":[0],"paper":[1,205],"presents":[2],"a":[3,103,207],"novel":[4],"algorithm":[5,48,67],"about":[6],"the":[7,14,23,26,32,35,41,46,54,61,65,72,81,84,89,97,100,110,118,142,151,155,160,166,171,179,184,196,211],"industrial":[8,27,101,217],"robot":[9],"contouring":[10,214],"control":[11,106,190,215],"based":[12,52,108],"on":[13,53,60,109],"NURBS":[15,125,185],"(non-uniform":[16],"rational":[17],"B-spline)":[18],"curve.":[19,199],"First,":[20],"aiming":[21],"at":[22],"error":[24,37,51,70,164,168],"between":[25,159],"robot\u2019s":[28],"actual":[29],"trajectory":[30,42,181],"and":[31,45,127,132,157,165],"desired":[33],"trajectory,":[34],"contour":[36,50,69,167,189],"is":[38,57,77,115,139,176],"proposed":[39,78],"as":[40,150],"evaluation":[43],"index,":[44],"estimation":[47,66],"of":[49,68,99,145,170,216],"tangent":[55,62],"approximation":[56,63],"proposed.":[58],"Based":[59],"algorithm,":[64],"in":[71],"local":[73,90,111],"task":[74,91,112],"coordinate":[75,86,92,113],"frame":[76,87,114],"to":[79,88,96],"realize":[80],"transformation":[82],"from":[83,203],"Cartesian":[85],"frame.":[93],"Second,":[94],"according":[95],"configuration":[98],"robot,":[102],"modified":[104],"cross-coupling":[105],"scheme":[107],"designed.":[116],"Finally,":[117],"Bernoulli\u2019s":[119,147],"lemniscate":[120,148],"curves":[121,149],"are":[122,134],"constructed":[123,146,182,194],"by":[124,183,195],"curve":[126,169,186],"five-order":[128,197],"polynomial":[129,198],"curve,":[130],"respectively,":[131],"they":[133],"symmetrical.":[135],"The":[136,200],"contrast":[137],"experiment":[138],"designed":[140],"using":[141],"two":[143,172],"types":[144],"incentive":[152,173,180],"trajectory.":[153],"Through":[154],"analysis":[156],"comparison":[158],"obtained":[161],"uniaxial":[162],"tracking":[163],"trajectories,":[174],"it":[175],"concluded":[177],"that":[178,193],"has":[187],"better":[188],"performance":[191],"than":[192],"results":[201],"drawn":[202],"this":[204],"lay":[206],"certain":[208],"foundation":[209],"for":[210],"future":[212],"high-precision":[213],"robots.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
