{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T22:33:10Z","timestamp":1761517990785,"version":"3.41.2"},"reference-count":5,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2008,10,17]],"date-time":"2008-10-17T00:00:00Z","timestamp":1224201600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2008,10,17]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The aim of this paper is to describe how to make a co\u2010operative motion plan for a dual manipulator system to measure the radioactivity of wastes produced in decommissioning a nuclear power plant.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The system consists of two tasks: the main task generates the path of the measuring operation and the subtask maintains a good working position by co\u2010operative motion of the two manipulators.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>A dual manipulator system requires an effective indicator of the current working position for the realisation of flexible co\u2010operative motion. Extended manipulability, which takes the motion limit of each joint angle into consideration, is shown to be an effective indicator.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Extended manipulability, which shows the motion possible from the current configuration, is offered as an improvement on conventional manipulability.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910810909547","type":"journal-article","created":{"date-parts":[[2008,11,1]],"date-time":"2008-11-01T08:08:16Z","timestamp":1225526896000},"page":"541-548","source":"Crossref","is-referenced-by-count":8,"title":["A study on co\u2010operative motion planning of a dual manipulator system for measuring radioactivity"],"prefix":"10.1108","volume":"35","author":[{"given":"Shigeru","family":"Aomura","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Muneo","family":"Harada","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Toshihiro","family":"Nagatomo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Satoshi","family":"Yanagihara","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mitsuo","family":"Tachibana","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022031219541357700_b1","doi-asserted-by":"crossref","unstructured":"Cao, B., Dodds, G.I. and Irwin, G.W. (1998), \u201cA practical approach to near time\u2010optimal inspection\u2010task\u2010sequence planning for two cooperative industrial robot arms\u201d, Int. J. Robotics Research, Vol. 17 No. 8, pp. 858\u201067.","DOI":"10.1177\/027836499801700804"},{"key":"key2022031219541357700_b2","doi-asserted-by":"crossref","unstructured":"Choi, K.J. and Ko, H.\u2010S. (2000), \u201cOnline motion retargeting\u201d, The Journal of Visualization and Computer Animation, Vol. 11, pp. 223\u201035.","DOI":"10.1002\/1099-1778(200012)11:5<223::AID-VIS236>3.0.CO;2-5"},{"key":"key2022031219541357700_b3","doi-asserted-by":"crossref","unstructured":"Staffetti, E., Bruyninckx, H. and De Shutter, J. (2002), \u201cOn the invariance of manipulability indices\u201d, Advances in Robot Kinematics: Theory and Applications, Kluwer Academic Publishers, Dordrecht, The Netherlands, pp. 57\u20106.","DOI":"10.1007\/978-94-017-0657-5_7"},{"key":"key2022031219541357700_b4","unstructured":"Yoshikawa, T. (1983), \u201cAnalysis and control of robot manipulators with redundancy\u201d, Robotics Research \u2013 The First International Symposium, The MIT Press, Cambridge, MA, pp. 735\u201047."},{"key":"key2022031219541357700_b5","unstructured":"Yoshikawa, T. (1984), \u201cMeasure of manipulability for robot manipulators\u201d, Journal of the Robot Society of Japan, Vol. 2 No. 1, pp. 63\u20107."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910810909547","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910810909547\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910810909547\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:21Z","timestamp":1753401021000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/35\/6\/541-548\/184631"}},"subtitle":[],"editor":[{"given":"David","family":"Sanders","sequence":"first","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2008,10,17]]},"references-count":5,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2008,10,17]]}},"alternative-id":["10.1108\/01439910810909547"],"URL":"https:\/\/doi.org\/10.1108\/01439910810909547","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2008,10,17]]}}}