{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,3,13]],"date-time":"2024-03-13T23:57:58Z","timestamp":1710374278680},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2003,2,19]],"date-time":"2003-02-19T00:00:00Z","timestamp":1045612800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2003,3]]},"abstract":"<jats:p>The minimum-time path-following problem for non-redundant manipulator has already been analyzed and a number of efficient solution algorithms have been proposed. These algorithms can be applied also to redundant manipulators if the path is assigned in the joint space. If the path is assigned in the task space instead, how to exploit kinematic redundancy to reduce the execution time is still an open problem. In this paper it \nis proposed to follow a heuristic approach to choose between different solutions to the inverse kinematics problem that underlies the minimum-time path-following control problem. The aim is to obtain a joint-space path which configures the manipulator so as to improve \nacceleration\/deceleration capabilities of the end-effector. This is obtained by penalizing \nthe motion of joints with higher inertia-to-torque ratios. Numerical results are presented for an \u201ceasy-to-understand\u201d three degree-of-freedom planar manipulator involved \nin two-dimensional paths.<\/jats:p>","DOI":"10.1017\/s0263574702004678","type":"journal-article","created":{"date-parts":[[2003,3,3]],"date-time":"2003-03-03T11:11:23Z","timestamp":1046689883000},"page":"137-142","source":"Crossref","is-referenced-by-count":2,"title":["A contribution to minimum-time task-space path-following problem for redundant manipulators"],"prefix":"10.1017","volume":"21","author":[{"given":"Francesco","family":"Basile","sequence":"first","affiliation":[]},{"given":"Pasquale","family":"Chiacchio","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2003,2,19]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574702004678","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,2]],"date-time":"2019-04-02T20:16:53Z","timestamp":1554236213000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574702004678\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,2,19]]},"references-count":0,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2003,3]]}},"alternative-id":["S0263574702004678"],"URL":"https:\/\/doi.org\/10.1017\/s0263574702004678","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2003,2,19]]}}}