{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T13:33:23Z","timestamp":1777988003955,"version":"3.51.4"},"reference-count":19,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,22]],"date-time":"2007-03-22T00:00:00Z","timestamp":1174521600000},"content-version":"vor","delay-in-days":5955,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Off\u2010line programming of robotic workcells has become an invaluable tool for the workcell designer, however, current robot programming systems lack the capability to automatically determine the locations for performing assembly operations within the manipulator's workspace. A gradient function of manipulability in Cartesian space was developed based on an explicit determination of the manipulability function and the gradient of the manipulability function in joint space. A modified method of the steepest descent optimization procedure was then used as the basis for an algorithm that automatically locates an assembly task away from singularities within a manipulator's workspace. This algorithm can readily be extended to any nonredundant manipulator.<\/jats:p>","DOI":"10.1002\/rob.4620070602","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:53:18Z","timestamp":1183719198000},"page":"791-811","source":"Crossref","is-referenced-by-count":28,"title":["Optimizing the location of assembly tasks in a manipulator's workspace"],"prefix":"10.1002","volume":"7","author":[{"given":"Brad","family":"Nelson","sequence":"first","affiliation":[]},{"given":"Max","family":"Donath","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","volume-title":"Proceedings of ROBOTS 9 Conference","author":"Larson G.","year":"1985"},{"key":"e_1_2_1_3_2","volume-title":"Optimization by Vector Space Methods","author":"Luenberger D. G.","year":"1969"},{"key":"e_1_2_1_4_2","volume-title":"The VNR Concise Encyclopedia of Mathematics","author":"Gellert W.","year":"1975"},{"key":"e_1_2_1_5_2","volume-title":"Introduction to Robotics","author":"Craig J. J.","year":"1986"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"T.Yoshikawa \u201cManipulability and redundancy control of robotic mechanisms\u201d inProceedings of the IEEE Conference on Robotics and Automation pp.1004\u20131009 St. Louis 1985.","DOI":"10.1109\/ROBOT.1985.1087283"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700202"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"e_1_2_1_9_2","first-page":"447","volume-title":"Robotics Research: The Second International Symposium","author":"Uchiyama M.","year":"1985"},{"key":"e_1_2_1_10_2","unstructured":"M. J.Tsai \u201cWorkspace geometric characterization and manipulability of industrial robots \u201d Ph.D Thesis Department of Mechanical Engineering Ohio State University 1986."},{"key":"e_1_2_1_11_2","unstructured":"B.Nelson K.Pedersen andM.Donath \u201cLocating assembly tasks in a manipulator's workspace \u201d inProceedings of the IEEE International Conference on Robotics and Automation Raleigh N.C. 1987."},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971811"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102314"},{"key":"e_1_2_1_14_2","volume-title":"Linear Algebra with Applications","author":"Leon S. J.","year":"1980"},{"key":"e_1_2_1_15_2","volume-title":"Numerical Recipes","author":"Press W. H.","year":"1986"},{"key":"e_1_2_1_16_2","unstructured":"Symbolics Inc. MACSYMATMReference Manual Version 10 December 1984."},{"key":"e_1_2_1_17_2","volume-title":"Computer Algebra in Applied Mathematics: An Introduction to MACSYMA","author":"Rand R. H.","year":"1984"},{"key":"e_1_2_1_18_2","unstructured":"B.Nelson \u201cOptimal location of assembly tasks in a manipulator's workspace \u201d M.S. Thesis Dept. of Mechanical Engineering Univ. of Minnesota March 1987."},{"key":"e_1_2_1_19_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"e_1_2_1_20_2","first-page":"169","volume-title":"ASME Conference on Robotics and Manufacturing Automation","author":"Khatib O.","year":"1985"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620070602","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620070602","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:18:47Z","timestamp":1737184727000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620070602"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1990,12]]},"references-count":19,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1990,12]]}},"alternative-id":["10.1002\/rob.4620070602"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620070602","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1990,12]]}}}