{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:48:34Z","timestamp":1749221314139,"version":"3.33.0"},"reference-count":32,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6249,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this article an efficient local approach for the path generation of robot manipulators is presented. The approach is based on formulating a simple nonlinear programming problem. This problem is considered as a minimization of energy with given robot kinematics and subject to the robot requirements and a singularities avoidance constraint. From this formulation a closed form solution is derived which has the properties that allows to pursue both singularities and obstacle avoidance simultaneously; and that it can incorporate global information. These properties enable the accomplishment of the important task that while a specified trajectory in the operational space can be closely followed, also a desired joint configuration can be attained accurately at a given time. Although the proposed approach is primarily developed for redundant manipulators, its application to nonredundant manipulators is examplified by considering a particular commercial manipulator.<\/jats:p>","DOI":"10.1002\/rob.4620070103","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:33:00Z","timestamp":1183714380000},"page":"23-55","source":"Crossref","is-referenced-by-count":22,"title":["An efficient local approach for the path generation of robot manipulators"],"prefix":"10.1002","volume":"7","author":[{"given":"R. V.","family":"Mayorga","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. K. C.","family":"Wong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K. S.","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"177","volume-title":"Advanced Software in Robotics","author":"Khalil W.","year":"1984"},{"volume-title":"Exploratory Study of Computer Integrated Assembly Systems","year":"1977","author":"Mujtaba M. S.","key":"e_1_2_1_3_2"},{"key":"e_1_2_1_4_2","series-title":"The MIT Series in Artificial Intelligence","volume-title":"Robot Manipulators, Mathematics, Programming and Control","author":"Paul R. P. C.","year":"1981"},{"key":"e_1_2_1_5_2","first-page":"133","volume-title":"Generation of Straight Line Motion for Robots","author":"Khalil W.","year":"1983"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1979.4310109"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1147\/rd.234.0424"},{"key":"e_1_2_1_8_2","first-page":"49","volume-title":"A Singularities Avoidance Approach for the Optimal Local Path Generation of Redundant Manipulators","author":"Mayorga R. V.","year":"1988"},{"key":"e_1_2_1_9_2","first-page":"604","article-title":"Some Facts Concerning the Inverse Kinematics of Redundant Manipulators","volume":"2","author":"Baker D. R.","year":"1987","journal-title":"IEEE Intl. Conf. on Robotics and Automation, Raleigh N.C."},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087003"},{"key":"e_1_2_1_11_2","first-page":"155","volume-title":"The Robotics Research, Second Intl. Symposium","author":"Nakamura Y.","year":"1985"},{"key":"e_1_2_1_12_2","unstructured":"R. V.MayorgaandA. K. C.Wong \u201cA Global Approach for the Optimal Path Generation of Redundant Manipulators \u201dJournal of Robotics Research (in press)."},{"key":"e_1_2_1_13_2","first-page":"619","article-title":"Local Versus Global Torque Optimization of Redundant Manipulators","volume":"2","author":"Suh K. C.","year":"1987","journal-title":"IEEE Intl. Conf. on Robotics and Automation, Raleigh N.C."},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul \u201cAvoiding Obstacles and Resolving Kinematic Redundancy \u201dIEEE Intl. Conf. on Robotics and Automation San Francisco Cal. April1986 pp.1698\u20131704.","DOI":"10.1109\/ROBOT.1986.1087464"},{"key":"e_1_2_1_15_2","first-page":"9","article-title":"A Closed\u2010Form Solution for the Control of Manipulators with Kinematic Redundancy","volume":"1","author":"Chang P. H.","year":"1986","journal-title":"IEEE Intl. Conf. on Robotics and Automation, San Francisco CA"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3187046"},{"key":"e_1_2_1_17_2","first-page":"1066","article-title":"Redundant Robot Control for Higher Flexibility","volume":"2","author":"Dubey R.","year":"1987","journal-title":"IEEE Intl. Conf. on Robotics and Automation, Raleigh N.C."},{"key":"e_1_2_1_18_2","doi-asserted-by":"crossref","unstructured":"J.HollerbachandK. C.Suh \u201cRedundancy Resolution of Manipulators Through Torque Optimization \u201dIEEE Int. Conf. on Robotics and Automation St. Louis Missouri March1985 pp.1016\u20131021.","DOI":"10.1109\/ROBOT.1985.1087285"},{"key":"e_1_2_1_19_2","first-page":"207","volume-title":"The Robotics Research, Second Intl. Symposium","author":"Klein C. A.","year":"1985"},{"key":"e_1_2_1_20_2","first-page":"868","article-title":"Automatic Supervisor Control of the Configuration and Behaviour of Multibody Mechanisms","volume":"7","author":"Ligeois A.","year":"1977","journal-title":"IEEE Trans."},{"key":"e_1_2_1_21_2","first-page":"735","volume-title":"The Robotics Research, 1st Intl. Symposium","author":"Yoshikawa T.","year":"1984"},{"key":"e_1_2_1_22_2","doi-asserted-by":"crossref","unstructured":"J.Baillieul \u201cKinematic Programming Alternatives for Redundant Manipulators \u201dIEEE Intl. Conf. on Robotics and Automation St. Louis Missouri March1985 pp.722\u2013728.","DOI":"10.1109\/ROBOT.1985.1087234"},{"key":"e_1_2_1_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.14412"},{"key":"e_1_2_1_24_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426611"},{"key":"e_1_2_1_25_2","first-page":"1707","article-title":"A Singularities Avoidance Method for the Trajectory Planning of Redundant and Nonredundant Robot Manipulators","volume":"3","author":"Mayorga R. V.","year":"1987","journal-title":"IEEE Intl. Conf. on Robotics and Automation, Raleigh N.C."},{"key":"e_1_2_1_26_2","first-page":"610","article-title":"Inverse Kinematic Functions for Redundant Manipulators","volume":"2","author":"Wampler C. W.","year":"1987","journal-title":"IEEE Intl. Conf. on Robotics and Automation, Raleigh N.C."},{"key":"e_1_2_1_27_2","doi-asserted-by":"crossref","unstructured":"T.Yoshikawa \u201cManipulability and Redundancy Control of Robotic Mechanisms \u201dIEEE Intl. Conf. on Robotics and Automation St. Louis Missouri March1985 pp.1004\u20131009.","DOI":"10.1109\/ROBOT.1985.1087283"},{"key":"e_1_2_1_28_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"volume-title":"Introduction to Matrix Computations","year":"1973","author":"Stewart G. W.","key":"e_1_2_1_29_2"},{"volume-title":"Linear and Nonlinear Programming","year":"1984","author":"Luenberger D. G.","key":"e_1_2_1_30_2"},{"volume-title":"Introduction to Robotics Mechanics and Control","year":"1986","author":"Craig J. J.","key":"e_1_2_1_31_2"},{"volume-title":"Robot Dynamics and Control","year":"1988","author":"Spong M.","key":"e_1_2_1_32_2"},{"volume-title":"Maple Users Guide","year":"1985","author":"Symbolic Computation Group, Univ. of Waterloo","key":"e_1_2_1_33_2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620070103","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620070103","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:15:41Z","timestamp":1737184541000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620070103"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,2]]},"references-count":32,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1990,2]]}},"alternative-id":["10.1002\/rob.4620070103"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620070103","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1990,2]]}}}