{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,20]],"date-time":"2024-09-20T15:34:57Z","timestamp":1726846497121},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[1999,5,1]],"date-time":"1999-05-01T00:00:00Z","timestamp":925516800000},"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":[[1999,5]]},"abstract":"<jats:p>In programming robot \nmanipulators to carry out a wide variety of tasks it \nwould be desirable to create a <jats:sc>CAD<\/jats:sc> system in which \nthese tasks can be programmed at the task level, leaving \nthe fine-grained detail of path planning and collision detection to \nthe system. This paper describes the theoretical background to such \na system, by providing a model in which robot motions \nare represented using multivariate B-splines, a standard representation for free-form \nshapes in the <jats:sc>CAD<\/jats:sc> environment. The paper also describes algorithms \nwhich take this representation and apply it to collision detection \nand path-planning.<\/jats:p>","DOI":"10.1017\/s0263574799001307","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"239-247","source":"Crossref","is-referenced-by-count":6,"title":["Modelling robot manipulators with multivariate B-splines"],"prefix":"10.1017","volume":"17","author":[{"given":"Colin G.","family":"Johnson","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Duncan","family":"Marsh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[1999,5,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574799001307","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,9]],"date-time":"2019-05-09T21:26:56Z","timestamp":1557437216000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574799001307\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,5]]},"references-count":0,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1999,5]]}},"alternative-id":["S0263574799001307"],"URL":"https:\/\/doi.org\/10.1017\/s0263574799001307","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1999,5]]}}}