{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T21:04:51Z","timestamp":1760043891064},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5000,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,7]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>This paper presents a systematic approach to the time-optimal motion planning of a cooperative two robot system along a prescribed path. First, the minimum-time motion planning problem is formulated in a concise form by parameterizing the dynamics of the robot system through a single variable describing the path. The constraints imposed on the input actuator torques and the exerted forces on the object are then converted into those on that variable, which result in the so-called <jats:italic>admissible region<\/jats:italic> in the phase plane of the variable. Considering the load distribution problem that is also involved in the motion, we present a systematic method to construct the admissible region by employing the orthogonal projection technique and the theory of multiple objective optimization. Especially, the effects of viscous damping and state-dependent actuator bounds are incorporated into the problem formulation so that the case where the admissible region is not simply connected can be investigated in detail. The resultant time-optimal solution specifies not only the velocity profile, but also the force assigned to each robot at each instant. Physical interpretation on the characteristics of the optimal actuator torques is also included with computer simulation results.<\/jats:p>","DOI":"10.1017\/s0263574700018798","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:11:46Z","timestamp":1236690706000},"page":"363-374","source":"Crossref","is-referenced-by-count":1,"title":["Path constrained time-optimal motion of a cooperative two robot system"],"prefix":"10.1017","volume":"13","author":[{"given":"Hye-Kyung","family":"Cho","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bum-Hee","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Myoung-Sam","family":"Ko","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018798_ref018","unstructured":"18. Cho H.K. , Lee B.H. and Ko M.S. , \u201cMinimum-Time Trajectory Planning for Cooperative Two Robot Arms\u201d Proc. of the 31th SICE Conference, Kumamoto, Japan (July, 1992) pp. 963\u2013966."},{"key":"S0263574700018798_ref017","doi-asserted-by":"publisher","DOI":"10.1109\/70.143358"},{"key":"S0263574700018798_ref016","doi-asserted-by":"publisher","DOI":"10.1080\/00207179108953653"},{"key":"S0263574700018798_ref011","unstructured":"11. Chen Y. and Desrochers A. A. , \u201cStructure of Minimum-Time control Law for Robotic Manipulators with Constrained Paths\u201d IEEE Int. Conf. on Robotics and Automation (1989) pp. 971\u2013976."},{"key":"S0263574700018798_ref010","unstructured":"10. Shiller Z. and Lu H. , \u201cRobust Computation of Path Constrained Time Optimal Motions\u201d IEEE int. Conf. on Robotics and Automation (1990) pp. 144\u2013149."},{"key":"S0263574700018798_ref009","doi-asserted-by":"publisher","DOI":"10.1109\/70.88024"},{"key":"S0263574700018798_ref008","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087090"},{"key":"S0263574700018798_ref007","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"S0263574700018798_ref020","unstructured":"20. Cho H.K. , Lee B.H. and Ko M.S. , \u201cPath Constrained Time-Optimal Motion of a Cooperative Two Robot System\u201d IECON'93, Hawaii (1993) pp. 1494\u20131499."},{"key":"S0263574700018798_ref002","doi-asserted-by":"publisher","DOI":"10.1115\/1.3153041"},{"key":"S0263574700018798_ref005","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400401"},{"key":"S0263574700018798_ref004","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139653"},{"key":"S0263574700018798_ref001","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700015447"},{"key":"S0263574700018798_ref013","doi-asserted-by":"crossref","unstructured":"13. Moon S.B. and Ahmad S. , \u201cTime Optimal Trajectories for Cooperative Multi-Robot Systems,\u201d Proc. of the 29th Conf. on Decison and Control, Honolulu, Hawaii (December, 1990) pp. 1126\u20131127.","DOI":"10.1109\/CDC.1990.203775"},{"key":"S0263574700018798_ref006","article-title":"Minimum-Time Control of Robotic Manipulators with Geometric Path Constraints","author":"Shin","year":"1985","journal-title":"IEEE Trans. Automatic Control"},{"key":"S0263574700018798_ref012","doi-asserted-by":"crossref","unstructured":"12. Ahmad S. and Yan H.C. , \u201cMinimum-Time Trajectory for Multiple Manipulators Holding a Common Object\u201d Proc. IFAC-AIPAC Conf., Nancy, France (July, 1989).","DOI":"10.1016\/B978-0-08-037034-7.50098-5"},{"key":"S0263574700018798_ref014","doi-asserted-by":"crossref","unstructured":"14. Bobrow J.E. , McCarthy J.M. and Chu V.K. , \u201cMinimum-Time Trajectories for Two Robots Holding the Same Workpiece,\u201d Proc. of the 29th Conf. on Decision and Control, Honolulu, Hawaii (December, 1990) pp. 3101\u20133107.","DOI":"10.1109\/CDC.1990.203361"},{"key":"S0263574700018798_ref015","unstructured":"15. Dudar A.M. and Eltimsahy A.H. , \u201cA Near-Minimum Time Controller for Two Coordinating Robots Grasping on Object\u201d IEEE Int. Conf. on Robotics and Automation (1990) pp. 1184\u20131189."},{"key":"S0263574700018798_ref003","doi-asserted-by":"publisher","DOI":"10.1109\/70.54733"},{"key":"S0263574700018798_ref021","volume-title":"Linear Programming","author":"Murty","year":"1983"},{"key":"S0263574700018798_ref019","unstructured":"19. Moon S.B. and Ahmad S. , \u201cSub-Time-Optimal Trajectory Plannings for Cooperative Multi-Manipulator Systems Using the Load Distribution Scheme\u201d IEEE Int. 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