{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,9]],"date-time":"2025-02-09T05:06:35Z","timestamp":1739077595376,"version":"3.37.0"},"reference-count":45,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":6642,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1991,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The minimum-time motion of robot manipulators is solved by defining a suitable time history for the arm end-effector to traverse. As the planning is performed in the configuration space, the uniqueness of the proposed algorithm emerges from the combination of both cubic and quadratic polynomial splines. Furthermore, the highly efficient time optimisation procedure could be applied to local segments of each joint trajectory, leading to a significant reduction of the travelling time. In addition, the ability to perform a search in the work space is granted, exploiting all possible options for an optimum motion. The method proposed considers all realistic physical limitations inherent in the manipulator design, in addition to any geometric constraints imposed on the path. Simulation programs have been written, and results are reported for the Unimation PUMA 560 robot manipulator.<\/jats:p>","DOI":"10.1017\/s0263574700015599","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:18:45Z","timestamp":1236691125000},"page":"81-92","source":"Crossref","is-referenced-by-count":3,"title":["Structured Motion Planning in the Local Configuration Space"],"prefix":"10.1017","volume":"9","author":[{"given":"A. M. S.","family":"Zalzala","sequence":"first","affiliation":[]},{"given":"A. 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Syst."},{"key":"S0263574700015599_ref009","first-page":"483","article-title":"An Exact Kinematic Model of PUMA 600 Manipulator","volume":"14","author":"Bazerghi","year":"1984","journal-title":"IEEE Trans. Syst."},{"key":"S0263574700015599_ref026","doi-asserted-by":"crossref","unstructured":"26. McKay N.D. and Shin K.G. , \u201cMinimum-Time Trajectory Planning for Industrial Robots with General Torque Constraints\u201d In Proc. IEEE Int. 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Paul R.P. , \u201cModeling, Trajectory Calculation and Servoing of a Computer Controlled Arm\u201d Ph.D. Dissertation Stanford University (1972).","DOI":"10.21236\/AD0785071"},{"volume-title":"Numerical Recipes","year":"1986","author":"Press","key":"S0263574700015599_ref014"},{"volume-title":"Introduction to Numerical Computations","year":"1978","author":"Vandergraft","key":"S0263574700015599_ref016"},{"key":"S0263574700015599_ref018","unstructured":"18. Lin C.S. and Chang P.R. , \u201cApproximate Optimum Paths of Robot Manipulators Under Realistic Physical Constraints\u201d Proc. IEEE Int. Conf. on Robotics and Automation (IEEE,St. Louis, MO, 1985) pp. 737\u201342."},{"key":"S0263574700015599_ref019","doi-asserted-by":"crossref","unstructured":"19. Jeon H.T. and Eslami M. , \u201cOn Minimum-Time Joint-Trajectory Planning For Industrial Manipulators With Cubic Polynomial and Input Torque Constraints\u201d Proc. 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Zalzala A.M.S. and Morris A.S. , \u201cA Fast Trajectory Tracker for Intelligent Robot Manipulators\u201d Proc. Int. Conf. Applications of Transputers. (to appear)."},{"key":"S0263574700015599_ref008","doi-asserted-by":"crossref","unstructured":"8. Orin D.E. , \u201cPipelined Approach to Inverse Plant Plus Jacobian Control of Robot Manipulators\u201d Proc. IEEE Int. Conf. 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