{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T03:06:50Z","timestamp":1773716810103,"version":"3.50.1"},"reference-count":55,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2024,4,17]],"date-time":"2024-04-17T00:00:00Z","timestamp":1713312000000},"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":[[2024,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In the process of trajectory optimization for robot manipulator, the path that is generated may deviate from the intended path because of the adjustment of trajectory parameters, if there is limitation of end-effector path in Cartesian space for specific tasks, this phenomenon is dangerous. This paper proposes a methodology that is based on the Pareto front to address this issue, and the methodology takes into account both the multi-objective optimization of robotic arm and the quality of end-effector path. Based on dung beetle optimizer, this research proposes improved non-dominated sorting dung beetle optimizer. This paper interpolates manipulator trajectory with quintic <jats:italic>B<\/jats:italic>-spline curves, achieves multi-objective trajectory optimization that simultaneously optimizes traveling time, energy consumption, and mean jerk, proposes a trajectory selection strategy that is based on Pareto solution set by introducing the concept of Fr\u00e9chet distance, and the strategy enables the end-effector to approach the desired path in Cartesian space. Simulation and experimental results validate the effectiveness and practicability of the proposed methodology on the Sawyer robot manipulator.<\/jats:p>","DOI":"10.1017\/s0263574724000481","type":"journal-article","created":{"date-parts":[[2024,4,17]],"date-time":"2024-04-17T08:54:02Z","timestamp":1713344042000},"page":"1761-1780","source":"Crossref","is-referenced-by-count":14,"title":["Multi-objective optimal trajectory planning for robot manipulator attention to end-effector path limitation"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0280-5836","authenticated-orcid":false,"given":"Jintao","family":"Ye","sequence":"first","affiliation":[]},{"given":"Lina","family":"Hao","sequence":"additional","affiliation":[]},{"given":"Hongtai","family":"Cheng","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,4,17]]},"reference":[{"key":"S0263574724000481_ref16","doi-asserted-by":"crossref","first-page":"1997","DOI":"10.1080\/0305215X.2018.1564919","article-title":"Optimization of the operation of the anthropomorphic manipulator in a three-dimensional working space","volume":"51","author":"Skrobek","year":"2019","journal-title":"Eng Optimiz"},{"key":"S0263574724000481_ref8","doi-asserted-by":"crossref","first-page":"888","DOI":"10.1017\/S0263574721000886","article-title":"Multi-objective optimal trajectory planning for manipulators in the presence of obstacles","volume":"40","author":"Zhang","year":"2022","journal-title":"Robotica"},{"key":"S0263574724000481_ref55","doi-asserted-by":"crossref","first-page":"3514","DOI":"10.1007\/s00453-021-00865-0","article-title":"Translation invariant Fr\u00e9chet distance queries","volume":"83","author":"Gudmundsson","year":"2021","journal-title":"Algorithmica"},{"key":"S0263574724000481_ref7","doi-asserted-by":"crossref","first-page":"530","DOI":"10.1016\/j.mechmachtheory.2017.11.006","article-title":"Optimal time-jerk trajectory planning for industrial robots","volume":"121","author":"Huang","year":"2018","journal-title":"Mech Mach Theory"},{"key":"S0263574724000481_ref30","doi-asserted-by":"crossref","first-page":"80","DOI":"10.1007\/s10957-013-0516-0","article-title":"Energy-optimal multi-goal motion planning for planar robot manipulators","volume":"163","author":"Bonami","year":"2014","journal-title":"J Optim Theory Appl"},{"key":"S0263574724000481_ref4","doi-asserted-by":"crossref","first-page":"3524","DOI":"10.1017\/S0263574723001157","article-title":"Trajectory planning of large redundant manipulator considering kinematic constraints and energy efficiency","volume":"41","author":"Liu","year":"2023","journal-title":"Robotica"},{"key":"S0263574724000481_ref12","doi-asserted-by":"crossref","first-page":"479","DOI":"10.1016\/j.mechmachtheory.2018.04.026","article-title":"An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines","volume":"126","author":"Li","year":"2018","journal-title":"Mech Mach Theory"},{"key":"S0263574724000481_ref21","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s10033-021-00669-x","article-title":"Multi-objective trajectory planning method based on the improved elitist non-dominated sorting genetic algorithm","volume":"35","author":"Wang","year":"2022","journal-title":"Chin J Mech Eng"},{"key":"S0263574724000481_ref15","doi-asserted-by":"crossref","first-page":"292","DOI":"10.1017\/S0263574722001291","article-title":"Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination","volume":"41","author":"Yu","year":"2023","journal-title":"Robotica"},{"key":"S0263574724000481_ref5","doi-asserted-by":"crossref","unstructured":"[5] Kyriakopoulos, K. 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