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This problem is formulated as a constrained continuous optimal control problem, which allows to consider joints and velocities constraints and\/or manipulator dynamics. This approach is exemplified for a planar redundant manipulator and the resultant state constrained problem is solved by an efficient iterative numerical technique.<\/jats:p>","DOI":"10.1002\/rob.4620070106","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:33:00Z","timestamp":1183714380000},"page":"107-128","source":"Crossref","is-referenced-by-count":15,"title":["A global approach for the optimal path generation of redundant robot manipulators"],"prefix":"10.1002","volume":"7","author":[{"given":"R. V.","family":"Mayorga","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. K. 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