{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,4]],"date-time":"2022-04-04T18:09:33Z","timestamp":1649095773511},"reference-count":11,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5972,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1992,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A new method of optimal cost trajectory planning based on a graph searching algorithm is presented. Various heuristic functions which play the key role in the construction of effective algorithms for solving such problems are proposed. Some numerical examples are given based on the kinematic and dynamic models of a IRb-6 ASEA robot. This method rooted in <jats:italic>AI<\/jats:italic> has less computational complexity than a dynamical programming method applying to the same optimal-cost trajectory planning problem.<\/jats:p>","DOI":"10.1017\/s0263574700005853","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:17:20Z","timestamp":1236691040000},"page":"531-537","source":"Crossref","is-referenced-by-count":7,"title":["A Graph-Searching Approach to Trajectory Planning of Robots"],"prefix":"10.1017","volume":"10","author":[{"given":"Witold","family":"Jacak","sequence":"first","affiliation":[]},{"given":"Ignacy","family":"Dul\u0119ba","sequence":"additional","affiliation":[]},{"given":"Pawe\u0142","family":"Rogalinski","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700005853_ref011","volume-title":"Automation Dept. Reports","author":"Gosiewski","year":"1989"},{"key":"S0263574700005853_ref010","first-page":"1","article-title":"Suboptimal control of industrial manipulators with a weighted minimum time fuel criterion","volume":"30","author":"Kim","year":"1985","journal-title":"IEEE Transactions"},{"key":"S0263574700005853_ref009","volume-title":"Principles of Artificial Intelligence","author":"Nilsson","year":"1980"},{"key":"S0263574700005853_ref008","first-page":"681","article-title":"Automatic Planning of Manipulator Transfer Movements","volume":"11","author":"Lozano-Perez","year":"1981","journal-title":"IEEE Transactions"},{"key":"S0263574700005853_ref005","first-page":"491","article-title":"A dynamic programming approach to trajectory planning of robotic manipulators","volume":"31","author":"Shin","year":"1986","journal-title":"IEEE Transactions"},{"key":"S0263574700005853_ref004","unstructured":"[4] Bobrow J.E. , Dubowsky S. and Gibson J.S. , \u201cOn the optimal control of robotic manipulators with actuator constraints\u201d Amer. Contr. Conf. (1983) pp. 782\u2013787."},{"key":"S0263574700005853_ref002","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087090"},{"key":"S0263574700005853_ref003","first-page":"330","article-title":"Optimum path planning for mechanical manipulators","volume":"2","author":"Luh","year":"1981","journal-title":"ASME J. Dynam. Syst."},{"key":"S0263574700005853_ref006","first-page":"681","article-title":"A discrete planner for robotic arms with six degrees of freedom","volume":"5","author":"Tan","year":"1989","journal-title":"IEEE Transactions"},{"key":"S0263574700005853_ref007","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700005439"},{"key":"S0263574700005853_ref001","first-page":"531","article-title":"Minimum\u2013time control of robotic manipulators with geometric path constraints","volume":"30","author":"Shin","year":"1985","journal-title":"IEEE Transactions"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700005853","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,16]],"date-time":"2019-05-16T20:21:04Z","timestamp":1558038064000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700005853\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,11]]},"references-count":11,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1992,11]]}},"alternative-id":["S0263574700005853"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700005853","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,11]]}}}