{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:16:56Z","timestamp":1737263816110,"version":"3.33.0"},"reference-count":15,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6494,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1989,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Using inverse kinematic solutions for<jats:italic>self\u2010motion<\/jats:italic>of a class of 9\u2010R redundant robots, a conjugate\u2010gradient based constrained optimization scheme for incremental trajectory planning is formulated. The proposed scheme has been evaluated and proved to be an efficient optimization method for redundancy utilization. It can also be used for studying 7\u2010R and 8\u2010R manipulators by simply restricting to one\u2010variable and two\u2010variable optimization, respectively. In contrast with other approaches which are based on the Jacobian, our scheme exploits the availability of<jats:italic>closed\u2010form<\/jats:italic>inverse kinematic solutions to give more effective and accurate results.<\/jats:p>","DOI":"10.1002\/rob.4620060305","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T08:55:31Z","timestamp":1183712131000},"page":"255-267","source":"Crossref","is-referenced-by-count":4,"title":["Criteria optimization using self\u2010motion of a 9\u2010R redundant robot"],"prefix":"10.1002","volume":"6","author":[{"given":"K. 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