{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T02:17:35Z","timestamp":1767665855700},"reference-count":21,"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":6552,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1991,4]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>An algorithm is presented for the on-line generation of minimum-time trajectories for robot manipulators. The algorithm is designed for intelligent robots with advanced on-board sensory equipment which can provide the position and orientation of the end-effector. Planning is performed in the configuration (joint) space by the use of optimised combined polynomial splines, along with a search technique to identify the best minimum-time trajectory. The method proposed considers all physical and dynamical limitations inherent in the manipulator design, in addition to any geometric path constraints. Meeting the demands of the heavy computations involved lead to a distributed formulation on a multiprocessor system, for which an intelligent control unit has been created to supervise its proper and practical implementation. Simulation results of a proposed case study are presented for a PUMA 560 robot manipulator.<\/jats:p>","DOI":"10.1017\/s0263574700010183","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:19:46Z","timestamp":1236691186000},"page":"145-155","source":"Crossref","is-referenced-by-count":3,"title":["A Distributed On-Line Trajectory Generator for Intelligent Sensory-Based Manipulators"],"prefix":"10.1017","volume":"9","author":[{"given":"A. M. S.","family":"Zalzala","sequence":"first","affiliation":[]},{"given":"A. S.","family":"Morris","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700010183_ref003","first-page":"730","article-title":"A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity","volume":"10","author":"Hollerbach","year":"1980","journal-title":"IEEE Trans. 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Porrill J. , Pollard S.B. , Pridmore T.P. , Bowen J.B. , Mayhew J.E.W. and Frisby J.P. , \u201cTINA: The Sheffield Aivru Vision System\u201d AIVRU memo #27 (AI Vision Research Unit, Sheffield University, United Kingdom, 1988)."},{"key":"S0263574700010183_ref001","volume-title":"Robot Manipulators: Mathematics, Programming and Control","author":"Paul","year":"1981"},{"key":"S0263574700010183_ref011","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103181"},{"key":"S0263574700010183_ref018","volume-title":"Robot Motion: Planning and Control","author":"Brady","year":"1982"},{"key":"S0263574700010183_ref005","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500305"},{"key":"S0263574700010183_ref007","unstructured":"7. Hirzinger G. and Dietrich J. , \u201cMultisensory Robots and Sensorybased Path Generation\u201d Proc. IEEE Int. Conf. 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Lee C.S.G. and Chang P.R. , \u201cA Maximum Pipelined CORDIC Architecture for Robot Inverse Kinematics Computation\u201d Report TR-EE-86\u22125 (Purdue University, 1986).","DOI":"10.1109\/JRA.1987.1087126"},{"key":"S0263574700010183_ref017","volume-title":"Robotics: Control, Sensing, Vision and Intelligence","author":"Fu","year":"1987"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700010183","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,17]],"date-time":"2019-05-17T22:19:15Z","timestamp":1558131555000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700010183\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,4]]},"references-count":21,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1991,4]]}},"alternative-id":["S0263574700010183"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700010183","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,4]]}}}