{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,15]],"date-time":"2026-02-15T15:26:56Z","timestamp":1771169216077,"version":"3.50.1"},"reference-count":13,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The long standing problem of guiding robotic manipulators in cluttered workspaces is treated here by a unified approach, taking into account both motion planning and control aspects. Planning the collision\u2010free operation is based on the notion of roadmaps. To reduce the complexity of the roadmaps, the real problem is approximated by a simplified but still realistic graph structure. Motion planning relies on the robot closely following the defined collison\u2010free path, so the errors in robot control must be contained within bounded regions. Satisfying this assumption ideally requires no\u2010overshoot control. Overshooting demands special attention in tasks that require high speed operations of robots in the presence of obstacles. To stabilize at the specified collision\u2010free trajectory, before going actually beyond it, joint control schemes demand slow movements through a number of intermediate subgoals. This significantly delays the completion of the task. By using ideas from variable structure control (VSC), a control policy is suggested here that switches between PD<jats:sup>+<\/jats:sup> and CEA<jats:sup>+<\/jats:sup> (constant error acceleration) schemes, where the CEA + scheme applies a \u201cconstant error acceleration\u201d of the largest possible magnitude in the appropriate direction. The performance of the path planning and the control algorithms is presented through simulations of a four\u2010link SCARA robot in various cluttered workspaces. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110709","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T15:17:12Z","timestamp":1183735032000},"page":"665-678","source":"Crossref","is-referenced-by-count":5,"title":["No\u2010overshoot control of robotic manipulators in the presence of obstacles"],"prefix":"10.1002","volume":"11","author":[{"given":"A.","family":"Denker","sequence":"first","affiliation":[]},{"given":"D. P.","family":"Atherton","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500106"},{"key":"e_1_2_1_4_2","volume-title":"The Complexity of Robot Motion Planning","author":"Canny J.","year":"1987"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400207"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"A. K.Ramadorai T. J.Tarn andA. K.Bejczy \u201cFeasibility of parallelization of nonlinear feedback method of robot arm control \u201d Proc. Symp. Rob. Control (SYROCO '91) Pergamon Press Vienna 1991.","DOI":"10.1016\/S1474-6670(17)51092-7"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906130"},{"key":"e_1_2_1_8_2","unstructured":"H.BerghuisandP.Lohnberg \u201cAdaptive PD+control of rigid robot manipulators \u201d Proc. Symp. Rob. Control (SYROCO '91) Pergamon Press Vienna 1991."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1145\/359156.359164"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100409"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070505"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1002\/aic.690320609"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1976.1101381"},{"key":"e_1_2_1_14_2","unstructured":"Y.Denizhan\u201cA variable structure control algorithm for robotic systems and a learning scheme for load adaptation \u201d Ph.D. Thesis Bogazici University Istanbul 1988."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620110709","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620110709","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,24]],"date-time":"2023-10-24T00:40:27Z","timestamp":1698108027000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620110709"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":13,"journal-issue":{"issue":"7","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/rob.4620110709"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620110709","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}