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Also, the optimal selection of the tension parameter and time interval selection schemes are investigated in this study. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110203","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:23:06Z","timestamp":1183731786000},"page":"91-102","source":"Crossref","is-referenced-by-count":0,"title":["Effect of tension parameters and intervals on splines\u2010under\u2010tension based robot trajectory planning"],"prefix":"10.1002","volume":"11","author":[{"given":"Seung\u2010Jong","family":"Yi","sequence":"first","affiliation":[]},{"given":"Kyuil","family":"Kim","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"S.\u2010J.Yi \u201cTrajectory control of an articulated robot with a parallel drive arm based on splines under tension \u201d Ph.D. Thesis The University of Illinois at Chicago 1992."},{"key":"e_1_2_1_3_2","unstructured":"S.\u2010J.YiandK.Kim \u201cTrajectory planning of an articulated robot with a parallel drive arm based on splines under tension \u201d The Int J Robotics Research 1992(forthcoming)."},{"key":"e_1_2_1_4_2","volume-title":"Autonomous manipulation on a robot: Summary of manipulator software functions","author":"Lewis R. 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