{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:06:17Z","timestamp":1739077577515,"version":"3.37.0"},"reference-count":10,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":7647,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1988,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The problem of finding an allowable object trajectory for a cooperating two-robot system is investigated. The purpose is to move an object from one point to another by firmly grasping it at two different points using two robotic hands. The major difficulty is caused by the fact that, unless the robots have true six degrees of freedom, the trajectories the object can follow are severely limited and, in general, are difficult to find. The method proposed in the paper is based on reformulating the problem as a nonlinear optimization problem with equality constraints in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The method has been successfully applied to a real experimental system.<\/jats:p>","DOI":"10.1017\/s026357470000391x","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:22:39Z","timestamp":1236691359000},"page":"107-113","source":"Crossref","is-referenced-by-count":8,"title":["Admissible trajectory determination for two cooperating robot arms"],"prefix":"10.1017","volume":"6","author":[{"given":"Joonhong","family":"Lim","sequence":"first","affiliation":[]},{"given":"Dong H.","family":"Chyung","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S026357470000391X_ref010","unstructured":"10. Lim J. , Cooperative Control of Two Robot Arms, Ph.D. Thesis (Dept. of Electrical and Computer Engineering, The University of Iowa, 05, 1986)."},{"volume-title":"Systems: decomposition, optimisation, and control","year":"1978","author":"Singh","key":"S026357470000391X_ref009"},{"volume-title":"Introduction to linear and nonlinear programming","year":"1973","author":"Luenberger","key":"S026357470000391X_ref008"},{"key":"S026357470000391X_ref005","doi-asserted-by":"crossref","unstructured":"5. Sadre A. , Smith R. and Cartwright W. , \u201cCoordinate transformations for two industrial robots\u201d Proceedings of the IEEE 1984 International Conference on Robotics 45\u201361 (1984).","DOI":"10.1109\/ROBOT.1984.1087157"},{"volume-title":"Robot manipulators: Mathematics, Programming and Control","year":"1981","author":"Paul","key":"S026357470000391X_ref007"},{"key":"S026357470000391X_ref003","first-page":"10","article-title":"The RHINO XR-1","author":"Sandhu","year":"1982","journal-title":"Robotics Age"},{"key":"S026357470000391X_ref002","first-page":"20\u20131","article-title":"Kinematic arrangements used in industrial robots","author":"Colson","year":"1983","journal-title":"Proceedings of the 13th International Symposium on Industrial Robots"},{"key":"S026357470000391X_ref004","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200103"},{"key":"S026357470000391X_ref006","first-page":"23","article-title":"Analysis of five-degree-of-freedom robot arms","volume":"105","author":"Sugimoto","year":"1983","journal-title":"ASME J. Mechanism"},{"key":"S026357470000391X_ref001","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700009589"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357470000391X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:56:57Z","timestamp":1738990617000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357470000391X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1988,4]]},"references-count":10,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1988,4]]}},"alternative-id":["S026357470000391X"],"URL":"https:\/\/doi.org\/10.1017\/s026357470000391x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1988,4]]}}}