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Hence, it is real-time applicable if the information about obstacles positions and shapes is obtained from a higher control level. The trajectories generated lie within the reachable workspace. The method is implemented on a VAX 11\/750 computer and the simulation results are included.<\/jats:p>","DOI":"10.1017\/s0263574700008158","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:17:28Z","timestamp":1236691048000},"page":"321-328","source":"Crossref","is-referenced-by-count":0,"title":["A geometric approach to manipulator path planning in 3D space in the presence of obstacles"],"prefix":"10.1017","volume":"10","author":[{"given":"Manja","family":"Kir\u0107anski","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Olga","family":"Tim\u010denko","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700008158_ref006","doi-asserted-by":"crossref","unstructured":"6. 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