{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T00:09:29Z","timestamp":1771632569773,"version":"3.50.1"},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"9","license":[{"start":{"date-parts":[[2024,9,18]],"date-time":"2024-09-18T00:00:00Z","timestamp":1726617600000},"content-version":"unspecified","delay-in-days":17,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In various industrial robotic applications, the effective traversal of a manipulator amidst obstacles and its ability to reach specific task-points are imperative for the execution of predefined tasks. In certain scenarios, the sequence in which the manipulator reaches these task-points significantly impacts the overall cycle time required for task completion. Moreover, some tasks necessitate significant force exertion at the end-effector. Therefore, establishing an optimal sequence for the task-points reached by the end-effector\u2019s tip is crucial for enhancing robot performance, ensuring collision-free motion and maintaining high-force application at the end-effector\u2019s tip.<\/jats:p><jats:p>To maximize the manipulator\u2019s manipulability, which serves as a performance index for assessing its force capability, we aim to establish an optimal collision-free task sequence considering higher mechanical advantage. Three optimization criteria are considered: the cycle time, collision avoidance and the manipulability index. Optimization is accomplished using a genetic algorithm coupled with the Bump-Surface concept for collision avoidance. The effectiveness of this approach is confirmed through simulation experiments conducted in 2D and 3D environments with obstacles employing both redundant and non-redundant robots.<\/jats:p>","DOI":"10.1017\/s0263574724001371","type":"journal-article","created":{"date-parts":[[2024,9,18]],"date-time":"2024-09-18T09:20:43Z","timestamp":1726651243000},"page":"3230-3246","source":"Crossref","is-referenced-by-count":5,"title":["Optimal robot task scheduling in cluttered environments considering mechanical advantage"],"prefix":"10.1017","volume":"42","author":[{"given":"Paraskevi Th.","family":"Zacharia","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6228-4577","authenticated-orcid":false,"given":"Elias K.","family":"Xidias","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,9,18]]},"reference":[{"key":"S0263574724001371_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2009.07.003"},{"key":"S0263574724001371_ref26","unstructured":"[26] Nakamura, Y. and Hanafusa, H. , Inverse kinematic solutions with singularity robustness for robot manipulator control, (1985). Proc. ASME Conf, pp.193\u2013204."},{"key":"S0263574724001371_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574724001371_ref22","first-page":"8","article-title":"Planning of efficient trajectories in robotized assembly of aerostructures exploiting kinematic redundancy","volume":"8","author":"Storiale","year":"2021","journal-title":"Manuf Rev"},{"key":"S0263574724001371_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-011-3723-6"},{"key":"S0263574724001371_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"key":"S0263574724001371_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-021-01407-0"},{"key":"S0263574724001371_ref28","volume-title":"Adaption in Natural and Artificial Systems","author":"Holland","year":"1975"},{"key":"S0263574724001371_ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-03315-9"},{"key":"S0263574724001371_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696354"},{"key":"S0263574724001371_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2013.05.002"},{"key":"S0263574724001371_ref13","volume-title":"The Traveling Salesman Problem","author":"Lawer","year":"1985"},{"key":"S0263574724001371_ref14","doi-asserted-by":"publisher","DOI":"10.1002\/rob.1036"},{"key":"S0263574724001371_ref21","doi-asserted-by":"publisher","DOI":"10.3390\/electronics10030288"},{"key":"S0263574724001371_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.768187"},{"key":"S0263574724001371_ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.11.001"},{"key":"S0263574724001371_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.04.002"},{"key":"S0263574724001371_ref11","doi-asserted-by":"publisher","DOI":"10.5772\/intechopen.71406"},{"key":"S0263574724001371_ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906061705"},{"key":"S0263574724001371_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2017.10.005"},{"key":"S0263574724001371_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"S0263574724001371_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700502"},{"key":"S0263574724001371_ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-015-0190-6"},{"key":"S0263574724001371_ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005748"},{"key":"S0263574724001371_ref7","unstructured":"[7] \u017dlajpah, L. , \u201cDexterity Measures for Optimal Path Control of Redundant Manipulators,\u201d In: Proceedings of the 5th International Workshop on Robotics and in the Alpe-Andria-Danube Region RAAD1996, (1996) pp. 85\u201390."},{"key":"S0263574724001371_ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620050502"},{"key":"S0263574724001371_ref1","first-page":"512","article-title":"Optimal task placement of a serial robot manipulator for manipulability and mechanical power optimization","volume":"2","author":"Santos","year":"2010","journal-title":"Intell Inform Manage"},{"key":"S0263574724001371_ref24","volume-title":"Comput. Ind. Eng","volume":"187","author":"Zacharia"},{"key":"S0263574724001371_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0024-y"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574724001371","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,18]],"date-time":"2024-12-18T10:08:53Z","timestamp":1734516533000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574724001371\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,9]]},"references-count":29,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2024,9]]}},"alternative-id":["S0263574724001371"],"URL":"https:\/\/doi.org\/10.1017\/s0263574724001371","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,9]]}}}