{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,17]],"date-time":"2025-10-17T13:33:43Z","timestamp":1760708023938,"version":"3.37.0"},"reference-count":14,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6156,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1992,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The moving acceleration radius (MAR) is proposed as a local performance index quantifying the dynamic uniformity of a redundant robot. MAR can be calculated by a simple sequential algorithm, and the resolution of the redundant joint angles is obtained by maximizing MAR locally. In addition, the reduction of the joint torques is achieved by maximizing the acceleration bound in the direction of work path, while MAR is being kept at a maximum. Also a new differentiation algorithm for angular acceleration is suggested for numerical efficiency as well as accuracy, using a null space operator.<\/jats:p><jats:p>A three degrees of freedom planar robot with one degree of redundancy, simulated using these algorithms for various situations, showed a marked improvement in dynamic characteristics.<\/jats:p>","DOI":"10.1017\/s0263574700007931","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:17:46Z","timestamp":1236691066000},"page":"195-203","source":"Crossref","is-referenced-by-count":5,"title":["Trajectory planning of redundant robots by maximizing the moving acceleration radius"],"prefix":"10.1017","volume":"10","author":[{"given":"Ki-Kap","family":"Kim","sequence":"first","affiliation":[]},{"given":"Yong-San","family":"Yoon","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700007931_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"S0263574700007931_ref010","unstructured":"10. Chang P.H. , \u201cA Closed-Form Solution for Inverse Kinematics of Robot Manipulators with Redundancy\u201d IEEE J. Robotics and Automation RA-3, No. 5, 393\u2013403 (1987)."},{"key":"S0263574700007931_ref008","unstructured":"8. Whitney D.E. , \u201cResolved Motion Rate Control of Manipulators and Human Prostheses\u201d IEEE Trans. Man Machine Systems MMS-10, No. 2, 47\u201353 (1969)."},{"key":"S0263574700007931_ref006","doi-asserted-by":"crossref","unstructured":"6. Mayorga R.V. and Ressa B. and Wong A.K.C. , \u201cA Dexterity Measure for Robot Manipulators\u201d IEEE Int. Conference of Robotics and Automation 656\u2013661 (1990).","DOI":"10.1109\/ROBOT.1990.126058"},{"key":"S0263574700007931_ref011","unstructured":"11. Hollerbach J.M. and Suh K.C. , \u201cRedundancy Resolution of Manipulators through Torque Optimization\u201d IEEE J. Robotics and Automation RA-3, No. 4, 308\u2013316 (1987)."},{"key":"S0263574700007931_ref007","doi-asserted-by":"crossref","unstructured":"7. Ma O. and Angeles J. , \u201cThe Concept of Dynamic Isotropy and Its Applications to Inverse Kinematics and Trajectory Planning\u201d IEEE Int. Conference of Robotics and Automation 481\u2013486 (1990).","DOI":"10.1109\/ROBOT.1990.126024"},{"key":"S0263574700007931_ref012","doi-asserted-by":"crossref","unstructured":"12. Kazerounian K. and Nedungadi A. , \u201cAn Alternative Method for Minimization of the Driving Forces in Redundant Manipulators\u201d IEEE Int. Conference of Robotics and Automation 1701\u20131706 (1987).","DOI":"10.1109\/ROBOT.1987.1087807"},{"key":"S0263574700007931_ref013","first-page":"128","volume-title":"Applied Numerical Methods","author":"Carnahan","year":"1969"},{"key":"S0263574700007931_ref001","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140644"},{"key":"S0263574700007931_ref003","unstructured":"3. 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