{"id":"https://openalex.org/W4386048855","doi":"https://doi.org/10.1017/s0263574723001157","title":"Trajectory planning of large redundant manipulator considering kinematic constraints and energy efficiency","display_name":"Trajectory planning of large redundant manipulator considering kinematic constraints and energy efficiency","publication_year":2023,"publication_date":"2023-08-22","ids":{"openalex":"https://openalex.org/W4386048855","doi":"https://doi.org/10.1017/s0263574723001157"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723001157","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001157","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5100405185","display_name":"Zhenyu Liu","orcid":"https://orcid.org/0000-0003-2463-4553"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Liu","raw_affiliation_strings":["Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088"]},{"raw_affiliation_string":"State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102017491","display_name":"Yu Huang","orcid":"https://orcid.org/0000-0002-7615-4730"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Huang","raw_affiliation_strings":["Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088"]},{"raw_affiliation_string":"State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044457609","display_name":"Daxin Liu","orcid":"https://orcid.org/0000-0002-0379-1990"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Daxin Liu","raw_affiliation_strings":["Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0379-1990","affiliations":[{"raw_affiliation_string":"Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088"]},{"raw_affiliation_string":"State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102525830","display_name":"Xuxin Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuxin Guo","raw_affiliation_strings":["Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088"]},{"raw_affiliation_string":"State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726482","display_name":"Ke Wang","orcid":"https://orcid.org/0000-0003-2848-2577"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ke Wang","raw_affiliation_strings":["Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088"]},{"raw_affiliation_string":"State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039962474","display_name":"Jianrong Tan","orcid":"https://orcid.org/0000-0002-7425-341X"},"institutions":[{"id":"https://openalex.org/I4210092088","display_name":"Zhejiang Province Institute of Architectural Design and Research","ror":"https://ror.org/00f89ms08","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210092088"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianrong Tan","raw_affiliation_strings":["Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, Hangzhou, China","institution_ids":["https://openalex.org/I4210092088"]},{"raw_affiliation_string":"State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5044457609"],"corresponding_institution_ids":["https://openalex.org/I4210092088","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":2.6262,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.8984527,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":"11","first_page":"3524","last_page":"3540"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973999857902527,"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/kinematics","display_name":"Kinematics","score":0.7964819073677063},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.784277081489563},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6787265539169312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5125207901000977},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4764438271522522},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.46853819489479065},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.44809961318969727},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4297764301300049},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.42236945033073425},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3457614779472351},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31327736377716064},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26947730779647827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25036919116973877},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22210821509361267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13456940650939941}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7964819073677063},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.784277081489563},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6787265539169312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5125207901000977},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4764438271522522},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.46853819489479065},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.44809961318969727},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4297764301300049},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.42236945033073425},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3457614779472351},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31327736377716064},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26947730779647827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25036919116973877},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22210821509361267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13456940650939941},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723001157","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001157","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W64779303","https://openalex.org/W796041032","https://openalex.org/W1898944942","https://openalex.org/W1980275574","https://openalex.org/W1986558811","https://openalex.org/W2001350252","https://openalex.org/W2003593395","https://openalex.org/W2014841100","https://openalex.org/W2028190809","https://openalex.org/W2037035562","https://openalex.org/W2053287902","https://openalex.org/W2055201760","https://openalex.org/W2057496032","https://openalex.org/W2068398905","https://openalex.org/W2068638097","https://openalex.org/W2074174706","https://openalex.org/W2078521046","https://openalex.org/W2080017937","https://openalex.org/W2147692740","https://openalex.org/W2335284675","https://openalex.org/W2483900112","https://openalex.org/W2539881804","https://openalex.org/W2564845968","https://openalex.org/W2588559980","https://openalex.org/W2769232004","https://openalex.org/W2784320602","https://openalex.org/W2910711156","https://openalex.org/W2915243580","https://openalex.org/W2944268343","https://openalex.org/W3004804634","https://openalex.org/W3007895067","https://openalex.org/W3049462746","https://openalex.org/W3089807870","https://openalex.org/W4205910713","https://openalex.org/W4225010679","https://openalex.org/W4253118902","https://openalex.org/W4282942437","https://openalex.org/W4294631702","https://openalex.org/W4318055206","https://openalex.org/W6657233680"],"related_works":["https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W3033677963","https://openalex.org/W2005706483"],"abstract_inverted_index":{"Abstract":[0],"For":[1],"the":[2,15,32,39,56,62,65,87,109,117,123,127,131,136,139,143,149,157,167,198,201,204],"large":[3,13],"redundant":[4],"manipulator,":[5],"due":[6],"to":[7,26,79,91,152,165],"its":[8],"long":[9],"working":[10,140],"distance":[11],"and":[12,35,77,94,126,142,174,197],"mass,":[14],"number":[16],"of":[17,38,55,64,122,130,135,156,169,182,203],"links":[18,137],"(i.e.,":[19],"manipulator\u2019s":[20],"arms)":[21],"that":[22],"can":[23],"be":[24],"driven":[25],"move":[27],"simultaneously":[28],"is":[29,58,68,75,104,112,146],"limited.":[30],"Otherwise,":[31],"control":[33,155],"accuracy":[34],"motion":[36,63,175],"stability":[37,176],"manipulator":[40,57,66,158,185],"will":[41],"deteriorate.":[42],"Focusing":[43],"on":[44,191],"that,":[45],"a":[46,71,179],"weighted":[47],"Newton":[48],"iteration":[49],"(WNI)":[50],"algorithm":[51,103],"for":[52],"trajectory":[53,192],"planning":[54,118,193],"firstly":[59],"proposed,":[60],"where":[61],"joints":[67],"controlled":[69],"by":[70],"weight":[72,88,110,150],"matrix,":[73],"which":[74],"constant":[76],"related":[78],"each":[80],"link\u2019s":[81],"energy":[82,97,128,172],"consumption.":[83],"To":[84],"dynamically":[85],"adjust":[86],"matrix":[89,111,151],"according":[90],"kinematic":[92,124],"constraints":[93,125],"acquire":[95],"better":[96],"efficiency,":[98],"an":[99,187],"adaptive":[100],"WNI":[101],"(AWNI)":[102],"further":[105],"proposed.":[106],"In":[107],"AWNI,":[108],"adjusted":[113],"in":[114,171],"real-time":[115],"during":[116],"process,":[119],"with":[120],"considerations":[121],"consumption":[129],"manipulator.":[132],"The":[133],"switch":[134],"between":[138],"state":[141,145],"non-working":[144],"made":[147],"through":[148],"achieve":[153],"flexible":[154],"motion.":[159],"Two":[160],"evaluation":[161],"functions":[162],"are":[163,194],"established":[164],"validate":[166],"effectiveness":[168,202],"AWNI":[170,206],"saving":[173],"control.":[177],"Taking":[178],"6":[180],"degrees":[181],"freedom":[183],"(DOF)":[184],"as":[186],"example,":[188],"simulation":[189],"experiments":[190],"carried":[195],"out":[196],"results":[199],"show":[200],"proposed":[205],"algorithm.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}
