{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:55:59Z","timestamp":1754157359790,"version":"3.41.2"},"reference-count":15,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2009,10,16]],"date-time":"2009-10-16T00:00:00Z","timestamp":1255651200000},"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":[[2009,10,16]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to solve the path\u2010planning problem of industrial robots in complex environments.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A direct method (in each step, the path is been recorded) is presented in which the search of the path is made in the state space of the robotic system, and it makes use of the information generated about the characteristics of the process, introducing graph techniques for branching. The method poses an optimization problem that aims at minimizing the distance travelled by the significant points of the robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>A new approach to solve the path\u2010planning problem has been introduced in which the behaviour of three operational parameters (computational time, distance travelled and number of configurations generated) have been analyzed so that the user can choose the most efficient algorithm depending on which parameter he is most interested in.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>A new technique has been introduced which yields good results as the examples show.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The algorithm is able to obtain the solution to the path\u2010planning problem for any industrial robot working in a complex environment.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Gives a new tool for solving the path\u2010planning problem.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910994669","type":"journal-article","created":{"date-parts":[[2009,10,24]],"date-time":"2009-10-24T07:03:43Z","timestamp":1256367823000},"page":"594-607","source":"Crossref","is-referenced-by-count":10,"title":["Direct step\u2010by\u2010step method for industrial robot path planning"],"prefix":"10.1108","volume":"36","author":[{"given":"Francisco","family":"Rubio","sequence":"first","affiliation":[]},{"given":"Francisco","family":"Valero","sequence":"additional","affiliation":[]},{"given":"Joseph","family":"Sunyer","sequence":"additional","affiliation":[]},{"given":"Vicente","family":"Mata","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021819461419800_b1","unstructured":"Fares, A.D., Valero, F. and Mata, V. (2007), \u201cPath planning optimization of industrial robots using genetic algorithm\u201d, Proceedings of the 16th International Workshop on Robotics in Alpe\u2010Adria\u2010Danube Region, Liubliana, p. 104."},{"key":"key2022021819461419800_b2","unstructured":"Hsu, D., Latombe, J\u2010C. and Motwani, R. (1997), \u201cPath planning in expansive configuration spaces\u201d, Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 2719\u201026."},{"key":"key2022021819461419800_b3","doi-asserted-by":"crossref","unstructured":"Hsu, D.R., Kindel, J.C., Latombe, S. and Rock, S. (2002), \u201cRandomized kinodynamic motion planning with moving obstacles\u201d, International Journal of Robotics Research, Vol. 21 No. 3, pp. 233\u201055.","DOI":"10.1177\/027836402320556421"},{"key":"key2022021819461419800_b4","unstructured":"Isto, P. 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An\u00e1lisis en entornos con obst\u00e1culos\u201d, PhD thesis, Politechnique University of Valencia, Valencia."},{"key":"key2022021819461419800_b11","unstructured":"Svestka, P. (1997), \u201cRobot motion planning using probabilistic roadmaps\u201d, PhD thesis, Department of Computer Science, Utrecht University, Utrecht."},{"key":"key2022021819461419800_b12","unstructured":"Valero, F.J. (1990), \u201cPlanificaci\u00f3n de trayectorias libres de obst\u00e1culos para un manipulador plano\u201d, PhD thesis, Universidad Polit\u00e9cnica de Valencia, Valencia."},{"key":"key2022021819461419800_b14","doi-asserted-by":"crossref","unstructured":"Valero, F.J., Mata, V. and Besa, A. 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