{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T13:54:53Z","timestamp":1761486893622},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2002,11,21]],"date-time":"2002-11-21T00:00:00Z","timestamp":1037836800000},"content-version":"unspecified","delay-in-days":20,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2002,11]]},"abstract":"<jats:p>The manipulator with a large degree of \nredundancy is useful for realizing multiple tasks such as maneuvering \nthe robotic arms in the constrained workspace, e.g. the task \nof maneuvering the end-effector of the manipulator along a pre-specified \npath into a window. This paper presents an on-line technique \nbased on a posture generation rule to compute a null-space \njoint velocity vector in a singularity-robust redundancy resolution method. This \nrule suggests that the end of each link has to \ntrack an implicit trajectory that is indirectly resulted from the \nconstraint imposed on tracking motion of the end-effector. A proper \nposture can be determined by sequentially optimizing an objective function \nintegrating multiple criteria of the orientation of each link from \nthe end-effector toward the base link as the secondary task \nfor redundancy resolution, by assuming one end of the link \nis clamped. The criteria flexibly incorporate obstacle avoidance, joint limits, \npreference of posture in tracking, and connection of posture to \nrealize a compromise between the primary and secondary tasks. Furthermore, \ncomputational demanding of the posture is reduced due to the \nsequential link-by-link computation feature. Simulations show the effectiveness and flexibility \nof the proposed method in generating proper postures for the \ncollision avoidance and the joint limits as a singularity-robust null-space \nprojection vector in maneuvering redundant robots within constrained workspaces.<\/jats:p>","DOI":"10.1017\/s0263574702004204","type":"journal-article","created":{"date-parts":[[2002,11,26]],"date-time":"2002-11-26T14:39:18Z","timestamp":1038321558000},"page":"625-636","source":"Crossref","is-referenced-by-count":18,"title":["On-line multi-criteria based collision-free posture generation of redundant manipulator in \nconstrained workspace"],"prefix":"10.1017","volume":"20","author":[{"given":"Jin-Liang","family":"Chen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing-Sin","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wan-Chi","family":"Lee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tzu-Chen","family":"Liang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2002,11,21]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574702004204","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,7]],"date-time":"2019-05-07T00:25:24Z","timestamp":1557188724000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574702004204\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,11]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2002,11]]}},"alternative-id":["S0263574702004204"],"URL":"https:\/\/doi.org\/10.1017\/s0263574702004204","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,11]]}}}