{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T20:29:09Z","timestamp":1770755349216,"version":"3.50.0"},"reference-count":29,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2023,10,20]],"date-time":"2023-10-20T00:00:00Z","timestamp":1697760000000},"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":[[2024,1,26]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to use redundant manipulators to solve the challenge of collision avoidance in construction operations such as welding and painting.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>In this paper, a null-space-based task-priority adjustment approach is developed to avoid collisions. The method establishes the relative position of the obstacle and the robot arm by defining the \u201clink space,\u201d and then the priority of the collision avoidance task and the end-effector task is adjusted according to the relative position by introducing the null space task conversion factors.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Numerical simulations demonstrate that the proposed method can realize collision-free maneuvers for redundant manipulators and guarantee the tracking precision of the end-effector task. The experimental results show that the method can avoid dynamic obstacles in redundant manipulator welding tasks.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A new formula for task priority adjustment for collision avoidance of redundant manipulators is proposed, and the original task tracking accuracy is guaranteed under the premise of safety.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-05-2023-0107","type":"journal-article","created":{"date-parts":[[2023,10,18]],"date-time":"2023-10-18T05:05:37Z","timestamp":1697605537000},"page":"73-90","source":"Crossref","is-referenced-by-count":2,"title":["Collision avoidance control for redundant manipulators in construction operations: a null-space-based task-priority adjustment 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