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Analysis of institutional authors

Rubio, FCorresponding AuthorJosep Lluis SuñerAuthorAntonio GarridoAuthorGarrido, AAuthor

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October 31, 2024
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The simultaneous algorithm and the best interpolation function for trajectory planning

Publicated to:Industrial Robot-The International Journal Of Robotics Research And Application. 37 (5): 441-451 - 2010-01-01 37(5), DOI: 10.1108/01439911011063263

Authors: Rubio, Francisco; Valero, Francisco; Sunyer, Joseph Lluis; Garrido, Antonio

Affiliations

Univ Politecn Valencia - Author
Univ Politecn Valencia, Dept Comp Syst & Computat - Author

Abstract

Purpose - The purpose of this paper is to solve the trajectory planning problem of industrial robots in a complex environment. Design/methodology/approach - A simultaneous algorithm was presented in which the trajectory was generated gradually as the robot moves. It takes into account the presence of obstacles (to avoid collisions) and differential constraints related to the dynamics of the robotic system. The method poses an optimization problem that aims at minimizing the time to perform the trajectory when several interpolation functions are used. Findings - A new approach to solving the trajectory planning problem in which the behaviour of four operational parameters (execution time, computational time, distance travelled and number of configurations) have been analyzed when changing the interpolation functions, therefore enabling the user to choose the most efficient algorithm depending on which parameter the user is most interested in. From the examples solved the interpolation function that yields the best results has been found. Research limitations/implications - This new technique is very time consuming due to the great number of mathematical calculations that have to be made. However, it yields a solution. Practical implications - The algorithm is able to obtain the solution to the trajectory planning problem for any industrial robot. Also, even mobile obstacles in the workspace could be incorporated at the same time as the robot is moving and creating the path and the time history of motion. Originality/value - It gives a new tool for solving the trajectory planning problem and describes the best interpolation function.

Keywords

AlgorithmsComplex environmentsComputational efficiencyComputational mechanicsComputational timeControl theoryDifferential constraintsEfficient algorithmExecution timeIndustrial robotsInterpolationInterpolation functionMathematical calculationsMobile obstaclesNew approachesObstaclesOperational parametersOptimizationOptimization problemsProgramming and algorithm theoryRobot manipulatorsRobot programmingRobotic systemsRoboticsSystem theorySystems and control theoryTime historyTrajectoriesTrajectory planning

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal Industrial Robot-The International Journal Of Robotics Research And Application due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2010, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Control and Systems Engineering. Notably, the journal is positioned above the 90th percentile.

From a relative perspective, and based on the normalized impact indicator calculated from the Field Citation Ratio (FCR) of the Dimensions source, it yields a value of: 3.6, which indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: Dimensions Aug 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2025-08-17, the following number of citations:

  • WoS: 14
  • Scopus: 14

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-08-17:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 9 (PlumX).

Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (Rubio Montoya, Francisco José) and Last Author (Garrido Quilis, Arianne).

the author responsible for correspondence tasks has been Rubio Montoya, Francisco José.