{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,5]],"date-time":"2025-12-05T12:05:49Z","timestamp":1764936349452,"version":"3.41.0"},"reference-count":13,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2021,3,2]],"date-time":"2021-03-02T00:00:00Z","timestamp":1614643200000},"content-version":"unspecified","delay-in-days":6362,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2003,10]]},"abstract":"<jats:title>Summary<\/jats:title>\n\t  <jats:p>In this paper, methods based on various spline techniques for planning and fast modifications of a trajectory for robot manipulators are investigated. Algebraic and trigonometric splines, their combined use, and the use of the B-spline technique are analyzed and compared in detail. In so doing, we focus on the performance of sudden changes in a predefined trajectory, e.g. obstacle avoidance in real-time applications. Some comparative examples illustrate our results.<\/jats:p>","DOI":"10.1017\/s0263574703005009","type":"journal-article","created":{"date-parts":[[2003,10,9]],"date-time":"2003-10-09T11:32:00Z","timestamp":1065699120000},"page":"475-482","source":"Crossref","is-referenced-by-count":31,"title":["Planning and real-time modifications of a trajectory using spline techniques"],"prefix":"10.1017","volume":"21","author":[{"given":"Eva","family":"Dyllong","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio","family":"Visioli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,3,2]]},"reference":[{"key":"S0263574703005009_bib12","first-page":"464","volume-title":"IEEE\/ASME Int. Conf: on Advanced Intelligent Mechatronics","author":"Dyllong","year":"2001"},{"key":"S0263574703005009_bib3","first-page":"301","volume-title":"16th IAARC\/IFAC\/IEEE Int. Symposium on Automation and Robotics in Construction, ISARC \u201899","author":"Komainda","year":"1999"},{"key":"S0263574703005009_bib4","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103181"},{"key":"S0263574703005009_bib6","first-page":"795","article-title":"On trigonometric spline interpolation","volume":"13","author":"Schoenberg","year":"1964","journal-title":"Journal of Mathematics and Mechanics"},{"key":"S0263574703005009_bib11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700002721"},{"key":"S0263574703005009_bib10","doi-asserted-by":"publisher","DOI":"10.1163\/156855396X00075"},{"key":"S0263574703005009_bib13","unstructured":"Dyllong, E. and Luther, W. , \u201cEine lokale modifizierung der bahnkurve des endeffektors eines schwerlastmanipulators\u201d, Technical Report SM-DU-480 (Institute of Mathematics, University of Duisburg, 2002)."},{"key":"S0263574703005009_bib7","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.1987.350954"},{"key":"S0263574703005009_bib8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700000552"},{"volume-title":"Curves and Surfaces for Computer-Aided Geometric Design: A Practical Guide","year":"1996","author":"Farin","key":"S0263574703005009_bib5"},{"key":"S0263574703005009_bib1","unstructured":"Fu, K.S. , Gonzales, R.C. and Lee, C.S.G. , Robotics: Control, Sensing, Vision and Intelligence (McGraw-Hill, 1987)."},{"key":"S0263574703005009_bib2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0449-0"},{"key":"S0263574703005009_bib9","doi-asserted-by":"crossref","unstructured":"Schneider, M. , Hiller, M. and Wagner, S. , \u201cDynamic simulation, nonlinear control and collision avoidance of hydraulically driven large redundant manipulators\u201d, In: (Budny et al. Eds) Automation and Robotics in Construction XII Instytut Mechanizacji Budownictwa i G6rnictwa Skalarnego, Warszawa, Poland (1995) pp. 341\u2013348.","DOI":"10.22260\/ISARC1995\/0041"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574703005009","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T21:52:54Z","timestamp":1750456374000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574703005009\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2003,10]]},"references-count":13,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2003,6]]}},"alternative-id":["S0263574703005009"],"URL":"https:\/\/doi.org\/10.1017\/s0263574703005009","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2003,10]]}}}