{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:44Z","timestamp":1737263864870,"version":"3.33.0"},"reference-count":23,"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":4273,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1995,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article discusses the application of orthogonal neural networks to detect collisions between multiple robot manipulators that work in an overlapped space. By applying an expansion\/shrinkage algorithm, the problem of collision detection between arms is transformed into that among cylinders (or rectangular solids) and line segments. This mapping simplifies the collision detection problem and thus neural networks can be applied to solve it. The property of parallel processing enables neural networks to detect collisions rapidly. A single\u2010layer orthogonal neural network is developed to avert the problems of conventional multilayer feedforward neural networks such as initial weights and the number of layers and processing elements. This orthogonal neural network can approximate various functions and is used to calculate forward solution and to detect collisions. An efficient neural network system for collision detection is also developed. \u00a9 1995 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620120703","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:17:01Z","timestamp":1183745821000},"page":"479-490","source":"Crossref","is-referenced-by-count":0,"title":["Collision detection for multiple robot manipulatyors by using orthogonal neural networks"],"prefix":"10.1002","volume":"12","author":[{"given":"Ching\u2010Shiow","family":"Tsens","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chen\u2010Chun","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"S.Dubowsky M.Norris andZ.Shiller \u201cTime optimal trajectory planning for robotics manipulators with obstacle avoidance: A CAD approach \u201d Proc.IEEE Int. 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