{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T11:53:08Z","timestamp":1770983588232,"version":"3.50.1"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2001,4,23]],"date-time":"2001-04-23T00:00:00Z","timestamp":987984000000},"content-version":"unspecified","delay-in-days":173,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2000,11]]},"abstract":"<jats:p>In this paper \n\nwe consider the problem of coordinating multiple motion devices for \n\nwelding. We focus on the problem of coordinating a three-axis \n\npositioning table and a six-axis manipulator. The problem is complex \n\nas there are nine axes involved and a number of \n\npermutations are possible which achieve the same movements of the \n\nweld torch. The system is redundant and the robot has \n\nsingular configurations. As a result, manual programming of the robot \n\nsystem is rather difficult to complete.<\/jats:p><jats:p>Our approach to the coordination \n\nproblem is based on a subdivision of tasks. The welding \n\ntable is coordinated to align the weld point surface to \n\nbe anti-parallel to the gravity direction. The six-axis robot is \n\nconstrained to move the weld torch along the weld trajectory. \n\nRobot coordination is achieved by placing the positioning table in \n\na good maneuverability position, i.e. far from its singular configurations \n\nand far from the motion limits of the six-axis arm \n\nand the motion limits of the track. While considering multiple \n\ncriteria, including the welding orientation, a Genetic Algorithm was employed \n\nto globally optimize six relevant redundant degrees of the multiple \n\nrobotic system for welding. The joint angles of the arm \n\nwere generated by inverse kinematics. Our method of redundancy coordination \n\nis superior to pseudo-inverse techniques, for it is more global \n\nand accurate.<\/jats:p>","DOI":"10.1017\/s0263574799001976","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T09:36:08Z","timestamp":1027762568000},"page":"669-676","source":"Crossref","is-referenced-by-count":27,"title":["Redundancy coordination of multiple robotic devices for welding through genetic \n\nalgorithm"],"prefix":"10.1017","volume":"18","author":[{"given":"L.","family":"Wu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K.","family":"Cui","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S. B.","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2001,4,23]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574799001976","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,2]],"date-time":"2019-09-02T12:24:11Z","timestamp":1567427051000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574799001976\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2000,11]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2000,11]]}},"alternative-id":["S0263574799001976"],"URL":"https:\/\/doi.org\/10.1017\/s0263574799001976","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2000,11]]}}}