{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,24]],"date-time":"2023-10-24T21:59:03Z","timestamp":1698184743943},"reference-count":12,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5368,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric information can be derived from the planned path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinematically infeasible can be modified according to different task requirements. To demonstrate the proposed feasibility and modification schemes, simulations for a 6R robot manipulator are executed.<\/jats:p>","DOI":"10.1002\/rob.4620090504","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:12:47Z","timestamp":1183727567000},"page":"613-633","source":"Crossref","is-referenced-by-count":7,"title":["Path feasibility and modification"],"prefix":"10.1002","volume":"9","author":[{"given":"Kuu\u2010Young","family":"Young","sequence":"first","affiliation":[]},{"given":"Chi\u2010Haur","family":"Wu","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","volume-title":"Robot Manipulators: Mathematics, Programming, and Control","author":"Paul R. P.","year":"1981"},{"key":"e_1_2_1_3_2","volume-title":"The dexterous workspace","author":"Kumar A.","year":"1980"},{"key":"e_1_2_1_4_2","first-page":"262","volume-title":"On the dexterity of robotic manipulators, service angle","author":"Yang D. C. H.","year":"1985"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3254990"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200302"},{"key":"e_1_2_1_7_2","first-page":"1","volume-title":"On the evaluation of manipulator workspace","author":"Lee T. W.","year":"1983"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500206"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500210"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.1984.310452"},{"key":"e_1_2_1_11_2","unstructured":"C. H.Wu andK. Y.Young \u201cRobot workspace geometry for trajectory feasibility study \u201d Proc. of IEEE International Conf. on Systems Man and Cybernetics 1988 pp.238\u2013241."},{"key":"e_1_2_1_12_2","unstructured":"J. C.ColsonandN. D.Perreira \u201cKinematic arrangements used in industrial robots \u201d Proc. of 13th ISIR 1983 pp.20:1\u201318."},{"key":"e_1_2_1_13_2","unstructured":"C. C.Jou \u201cOn the orientational feasibility of robot manipulators \u201d Proc. of International Conf. on Automation Robotics and Computer Vision 1990 pp.524\u2013528."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090504","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090504","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T12:29:08Z","timestamp":1698064148000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090504"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,7]]},"references-count":12,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1992,7]]}},"alternative-id":["10.1002\/rob.4620090504"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090504","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,7]]}}}