{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T11:58:42Z","timestamp":1773230322617,"version":"3.50.1"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2001,4,23]],"date-time":"2001-04-23T00:00:00Z","timestamp":987984000000},"content-version":"unspecified","delay-in-days":173,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2000,11]]},"abstract":"<jats:p>An approach to planning time-optimal collision-free motions of robotic \n\nmanipulators is presented. It is based on using a negative \n\nformulation of the Pontryagin Maximum Principle which handles efficiently various \n\ncontrol and\/or state constraints imposed on the manipulator motions, which \n\narise naturally out of manipulator joint limits and obstacle avoidance. \n\nThis approach becomes similar to that described by Weinreb and \n\nBryson, as well as by Bryson and Ho if no \n\nstate inequality constraints are imposed. In contrast to the penalty \n\nfunction method, the proposed algorithm does not require an initial \n\nadmissible solution (i.e. an initial admissible trajectory) and finds manipulator \n\ntrajectories with a smaller cost value than the penalty function \n\napproach. A computer example involving a planar redundant manipulator of \n\nthree revolute kinematic pairs is included. The numerical results are \n\ncompared with those obtained using an exterior penalty function method.<\/jats:p>","DOI":"10.1017\/s0263574700002770","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T09:39:16Z","timestamp":1027762756000},"page":"659-667","source":"Crossref","is-referenced-by-count":9,"title":["Time-optimal motions of robotic manipulators"],"prefix":"10.1017","volume":"18","author":[{"given":"Miroslaw","family":"Galicki","sequence":"first","affiliation":[]},{"given":"Dariusz","family":"Uci\u0144ski","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2001,4,23]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700002770","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,2]],"date-time":"2019-09-02T12:24:14Z","timestamp":1567427054000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700002770\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,11]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2000,11]]}},"alternative-id":["S0263574700002770"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700002770","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,11]]}}}