{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,11]],"date-time":"2025-04-11T08:49:16Z","timestamp":1744361356353,"version":"3.37.0"},"reference-count":27,"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":4511,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1996,11]]},"abstract":"<jats:p>A technique for open-loop minimum time planning of time-histories of control torques for robotic manipulators subject to constraints on the control torques using evolutionary algorithm is presented here. Planning is carried out in joint space of the manipulator and the path is represented as a string of via-points connected by cubic spline polynomial functions. Repeated path modification is done by using the evolutionary algorithm to search for a time-optimal path. Time taken to traverse over a particular path is calculated by reducing the dynamic equations of motion over that path in terms of a path parameter and then calculating the time optimal-control over that path.<\/jats:p>","DOI":"10.1017\/s026357470001849x","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:09:48Z","timestamp":1236690588000},"page":"621-632","source":"Crossref","is-referenced-by-count":14,"title":["Near Time-Optimal Collision-Free Motion Planning of Robotic Manipulators Using an Evolutionary Algorithm"],"prefix":"10.1017","volume":"14","author":[{"given":"A.S.","family":"Rana","sequence":"first","affiliation":[]},{"given":"A.M.S.","family":"Zalzala","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S026357470001849X_ref015","doi-asserted-by":"publisher","DOI":"10.1109\/21.148426"},{"key":"S026357470001849X_ref011","first-page":"34","article-title":"Computation of Path Constrained Time Optimal Motions with Dynamic Singularities","volume":"114","author":"Shiller","year":"1992","journal-title":"Trans. of ASME: J. of Dynamic Systems, Measurements and Control"},{"key":"S026357470001849X_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/70.88024"},{"key":"S026357470001849X_ref006","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1986.1104333"},{"key":"S026357470001849X_ref003","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800601"},{"key":"S026357470001849X_ref004","first-page":"164","article-title":"The Near-Minimum Time Control of Open Loop Articulated Kinematic Chains","volume":"93","author":"Kahn","year":"1971","journal-title":"Trans. of ASME: J. of Dynamic Systems, Measurements and Control"},{"key":"S026357470001849X_ref001","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"S026357470001849X_ref008","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087090"},{"key":"S026357470001849X_ref002","first-page":"524","article-title":"A Suboptimal Reference Generation Technique for Robotic Manipulators Following Specified Paths","volume":"114","author":"Butler","year":"1992","journal-title":"Trans, of ASME: J. of Dynamic Systems, Measurement and Control"},{"key":"S026357470001849X_ref013","doi-asserted-by":"publisher","DOI":"10.1109\/70.163787"},{"key":"S026357470001849X_ref010","doi-asserted-by":"publisher","DOI":"10.1109\/70.313107"},{"key":"S026357470001849X_ref007","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1104009"},{"key":"S026357470001849X_ref012","first-page":"1006","volume-title":"CONTROL'94","author":"Czarnecki","year":"1996"},{"key":"S026357470001849X_ref014","unstructured":"14. Koga Y. and Latombe J.C. , \u201cExperiments in Dual Arm Manipulation Planning\u201d IEEE Int. Conf. Robotics and AutomationNice, France(1992) pp. 2238\u20132245."},{"key":"S026357470001849X_ref005","doi-asserted-by":"crossref","unstructured":"5. Bessonet G. and Lallemand J.P. , \u201cPlanning of Optimal Free Paths of Robotic Manipulators with Bounds on Dynamic Forces\u201d IEEE International Conference on Robitics and Automation (Atlanta, CA, 1993) pp. 270\u2013275.","DOI":"10.1109\/ROBOT.1993.292187"},{"key":"S026357470001849X_ref016","first-page":"232","volume-title":"Introduction to robotics: Mechanics and Control","author":"Craig","year":"1989"},{"volume-title":"Operations Research: An Introduction","year":"1982","author":"Taha","key":"S026357470001849X_ref017"},{"key":"S026357470001849X_ref019","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-03315-9"},{"volume-title":"Computational Geometry for Design and Manufacture","year":"1979","author":"Faux","key":"S026357470001849X_ref020"},{"key":"S026357470001849X_ref022","unstructured":"22. Quinlan S. and Khatib O. , \u201cElastic Bands: Connecting Path Planning and Control\u201d Proceedings of IEEE Int. Conf. Robotics and Automation Atlanta, CA (1993) pp. 802\u2013807."},{"key":"S026357470001849X_ref023","unstructured":"23. Dakev N.V. , Chipperfield A.J. ad Fleming P.J. , \u201cA General Approach for Solving Optimal Control Problems Using Optimization Techniques\u201d IEEE Int. Conf. Systems, Man and Cybernetics, Vancouver, Canada (1995) pp. 4503\u20134508."},{"key":"S026357470001849X_ref024","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470001016X"},{"key":"S026357470001849X_ref027","unstructured":"27. Rana A.S. and Zalzala A.M.S. , \u201cCollision Free Minimum-Time Motion Planning for Two Planar Robotic Manipulators\u201d 1st IEEE National Multi-Topic Conference Rawalpindi, Pakistan (1995) pp. 156\u2013163."},{"key":"S026357470001849X_ref025","unstructured":"25. Wang Q. and Zalzala A.M.S. , \u201cNear-Minimum-Time Motion Control of Robotic Manipulators using Genetic Algorithms\u201d (submitted to IEE Proceedings-Control Theory and Applications)."},{"key":"S026357470001849X_ref026","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500305"},{"key":"S026357470001849X_ref018","unstructured":"18. Rana A.S. and Zalzala A.M.S. , \u201cAn Evolutionary Algorithm for the Collision Free Motion of Multi-Arm Robots\u201d 1st IEE\/IEEE Int. Conf. on Genetic Algorithms in Engineering Systems: Innovations and Applications Sheffield, UK (1995) pp. 123\u2013130."},{"volume-title":"Genetic Algorithm in Search, Optimization and Machine Learning","year":"1989","author":"Goldberg","key":"S026357470001849X_ref021"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357470001849X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:53:25Z","timestamp":1738990405000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357470001849X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1996,11]]},"references-count":27,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1996,11]]}},"alternative-id":["S026357470001849X"],"URL":"https:\/\/doi.org\/10.1017\/s026357470001849x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1996,11]]}}}