{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,17]],"date-time":"2026-01-17T12:26:40Z","timestamp":1768652800427,"version":"3.49.0"},"reference-count":38,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2023,1,13]],"date-time":"2023-01-13T00:00:00Z","timestamp":1673568000000},"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":[[2023,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper, based on the idea of redundancy angle discretisation, proposes an obstacle avoidance method for the fixed tip pose trajectory of a seven degrees-of-freedom (7-DOF) modular manipulator. First, for the case in which a specific redundancy angle is given, the analytical solutions of the redundant manipulator left 6-DOF subchain are found. Then, through the discretisation of the redundancy angle, the concept of the self-motion space of the tip pose is proposed and is extended to the concept of the self-motion space of the trajectory. Based on this discrete space, a path-planning algorithm is proposed to help select the appropriate redundancy angles to obtain the collision-free solution set of the fixed Cartesian trajectory. However, due to the large fluctuation of the obtained path, a path optimisation method based on the path cost is proposed to smooth the path, and the continuous and collision-free solution set of the manipulator tip\u2019s trajectory is obtained. The method proposed in this paper provides a new thought for the problem of collision-free solution set planning for the Cartesian trajectory of a 7-DOF manipulator and it has great application potential in working environments with high accuracy requirements for the trajectory.<\/jats:p>","DOI":"10.1017\/s0263574722001850","type":"journal-article","created":{"date-parts":[[2023,1,13]],"date-time":"2023-01-13T12:20:00Z","timestamp":1673612400000},"page":"1515-1535","source":"Crossref","is-referenced-by-count":7,"title":["Obstacle avoidance method for fixed trajectory of a seven-degree-of-freedom manipulator"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4418-836X","authenticated-orcid":false,"given":"Yuan","family":"Quan","sequence":"first","affiliation":[]},{"given":"Ke","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Chong","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Congmin","family":"Lv","sequence":"additional","affiliation":[]},{"given":"Haifeng","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Hongyu","family":"Lv","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,1,13]]},"reference":[{"key":"S0263574722001850_ref35","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"S0263574722001850_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389975"},{"key":"S0263574722001850_ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772447"},{"key":"S0263574722001850_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131621"},{"key":"S0263574722001850_ref24","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1155\/2021\/3360116","article-title":"A novel analytical inverse kinematics method for SSRMS-type space manipulators based on the POE formula and the Paden-Kahan subproblem","volume":"2021","author":"Wang","year":"2021","journal-title":"Int. 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