{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T03:53:42Z","timestamp":1649130822749},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2004,11,15]],"date-time":"2004-11-15T00:00:00Z","timestamp":1100476800000},"content-version":"unspecified","delay-in-days":14,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2004,11]]},"abstract":"<jats:p>This paper demonstrates the convergence stability and the actual usefulness of the gradient-based motion optimizations for manipulator arms. An optimal motion-planning problem is converted into a finite-dimensional nonlinear programming problem that utilizes cubic or quintic <jats:italic>B<\/jats:italic>-splines as basis functions. This study shows that the numerically calculated gradient is a useful tool in finding minimum torque, minimum energy, minimum overload, and minimum time motions for manipulator arms in the presence of static or moving obstacles. A spatial 6-link manipulator is simulated without simplifying any of the kinematic, dynamic or geometric properties of the manipulator or obstacles.<\/jats:p>","DOI":"10.1017\/s0263574704000256","type":"journal-article","created":{"date-parts":[[2004,11,15]],"date-time":"2004-11-15T12:22:24Z","timestamp":1100521344000},"page":"649-659","source":"Crossref","is-referenced-by-count":3,"title":["Convergence properties of gradient-based numerical motion-optimizations for manipulator arms amid static or moving obstacles"],"prefix":"10.1017","volume":"22","author":[{"given":"Jong-keun","family":"Park","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2004,11,15]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574704000256","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,6]],"date-time":"2019-05-06T20:02:03Z","timestamp":1557172923000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574704000256\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,11]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2004,11]]}},"alternative-id":["S0263574704000256"],"URL":"https:\/\/doi.org\/10.1017\/s0263574704000256","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2004,11]]}}}