{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:53Z","timestamp":1754155433929,"version":"3.41.2"},"reference-count":26,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2018,7,16]],"date-time":"2018-07-16T00:00:00Z","timestamp":1531699200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,7,19]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to use the redundancy of a 7-DOF (degree of freedom) serial manipulator to solve motion planning problems along a given 6D Cartesian tool path, in the presence of geometric constraints, namely, obstacles and joint limits.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>This paper describes an explicit expression of the task submanifolds for a 7-DOF redundant robot, and the submanifolds can be parameterized by two parameters with this explicit expression. Therefore, the global search method can find the feasible path on this parameterized graph.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The proposed planning algorithm is resolution complete and resolution optimal for 7-DOF manipulators, and the planned path can satisfy task constraint as well as avoiding singularity and collision. The experiments on Motoman SDA robot are reported to show the effectiveness.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>This algorithm is still time-consuming, and it can be improved by applying parallel collision detection method or lazy collision detection, adopting new constraints and implementing more effective graph search algorithms.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>Compared with other task constrained planning methods, the proposed algorithm archives better performance. This method finds the explicit expression of the two-dimensional task sub-manifolds, so it\u2019s resolution complete and resolution optimal.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-01-2018-0004","type":"journal-article","created":{"date-parts":[[2018,7,16]],"date-time":"2018-07-16T09:26:20Z","timestamp":1531733180000},"page":"363-370","source":"Crossref","is-referenced-by-count":7,"title":["Task constrained motion planning for 7-degree of freedom manipulators with parameterized 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