# An on-line tool path smoothing algorithm for 6R robot manipulator with geometric and dynamic constraints

> Research article (Science China Technological Sciences, 2021) · cited 23× · AI/ML

**Wikidata**: [openalex:W3183274969](https://www.wikidata.org/wiki/openalex:W3183274969)  
**Source**: https://4ort.xyz/entity/an-on-line-tool-path-smoothing-algorithm-for-6r-robot-manipulator-with-geometric-and-dynamic-constraints