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Such a scheme is derived from the discretization of an existing RMP scheme by utilizing the difference formula. Then, theoretical analysis and results are presented to show the characteristic of the proposed RMP scheme. That is, this scheme possesses the characteristic of cube pattern in the end-effector planning precision. The proposed RMP scheme is further extended and studied for redundant robotic manipulators under joint constraint. Based on a four-link robotic manipulator, simulation results substantiate the effectiveness and superiority of the proposed RMP scheme and its extended one.<\/jats:p>","DOI":"10.1017\/s0263574721001119","type":"journal-article","created":{"date-parts":[[2021,8,31]],"date-time":"2021-08-31T09:36:16Z","timestamp":1630402576000},"page":"1233-1254","source":"Crossref","is-referenced-by-count":3,"title":["New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8471-7046","authenticated-orcid":false,"given":"Limin","family":"Shen","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuanmei","family":"Wen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2021,8,31]]},"reference":[{"key":"S0263574721001119_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.1208"},{"key":"S0263574721001119_ref43","doi-asserted-by":"crossref","unstructured":"[43] Ortenzi, D. , Muthusamy, R. , Freddi, A. , Monteriu, A. and Kyrki, V. , \u201cDual-arm cooperative manipulation under joint limit constraints,\u201d Robot. 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