{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:59Z","timestamp":1754155439366,"version":"3.41.2"},"reference-count":32,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2016,1,18]],"date-time":"2016-01-18T00:00:00Z","timestamp":1453075200000},"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":[[2016,1,18]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 The purpose of this paper is to study the path optimization method of the manipulator in the lunar soil excavation and sampling process. The current research is a practical need for the excavation and sampling of the lunar soil in the lunar exploration project. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 This paper proposes the objective function and constraints for path optimization during the excavation process of the lunar soil, regarding excavation time and energy consumption as the two key fitness indexes by analyzing the whole excavation process of the lunar soil. Specifically, the optimization is divided into two consecutive phases, one for the excavation path and the other one for joint motions. In the first phase, the B\u00e9zier polynomial is adopted to get the optimal excavation angle and reduce energy consumption. In the second phase, a method based on convex optimization, variable conversion and dynamic process discretization, is used to reduce excavation time and energy consumption. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 Controlled experiments on the fine sand and the simulant lunar soil were conducted to verify the feasibility and effectiveness of the two phases of the optimization method, respectively. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 The optimization method of the excavation tasks in this paper is of great value in theoretical and practical engineering, and it can be applied in other robotic operational tasks as well.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-06-2015-0119","type":"journal-article","created":{"date-parts":[[2016,1,19]],"date-time":"2016-01-19T09:58:21Z","timestamp":1453197501000},"page":"65-76","source":"Crossref","is-referenced-by-count":0,"title":["Path optimization of excavating manipulator in lunar soil sampling"],"prefix":"10.1108","volume":"43","author":[{"given":"Haitao","family":"Yang","sequence":"first","affiliation":[]},{"given":"Zongwu","family":"Xie","sequence":"additional","affiliation":[]},{"given":"Cao","family":"Li","sequence":"additional","affiliation":[]},{"given":"Xiaoyu","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Minghe","family":"Jin","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020121822241446200_b1","unstructured":"Ardeshiri, T.\n               , \n                  Norrlof, M.\n               , \n                  Lofberg, J.\n                and \n                  Hansson, A.\n                (2011), \u201cConvex optimization approach for time-optimal path tracking of robots with speed dependent constraints\u201d, 18th IFAC World Congress, Milano, IFAC Secretariat, August 28 2011 - September 2011."},{"key":"key2020121822241446200_b2","unstructured":"Bernold, L.E.\n                (1992), \u201cPrinciples of control for robotic excavation\u201d, Proceedings of the 3rd International Conference on Engineering, Construction, and Operations in Space - SPACE \u201892, ASCE, Denver, CO, May 31, 1992 - June 4, 1992."},{"key":"key2020121822241446200_b3","doi-asserted-by":"crossref","unstructured":"Bernold, L.E.\n                (1993), \u201cMotion and path control for robotic excavation\u201d, \n                  Journal of Aerospace Engineering\n               , Vol. 6 No. 1, pp. 1-18.","DOI":"10.1061\/(ASCE)0893-1321(1993)6:1(1)"},{"key":"key2020121822241446200_b4","doi-asserted-by":"crossref","unstructured":"Bobrow, J.E.\n               , \n                  Dubowsky, S.\n                and \n                  Gibson, J.S.\n                (1985), \u201cTime-optimal control of robotic manipulators along specified paths\u201d, \n                  International Journal of Robotics Research\n               , Vol. 4 No. 3, pp. 3-17.","DOI":"10.1177\/027836498500400301"},{"key":"key2020121822241446200_b5","doi-asserted-by":"crossref","unstructured":"Bonitz, R.G.\n               , \n                  Shiraishi, L.\n               , \n                  Robinson, M.\n               , \n                  Arvidson, R.E.\n               , \n                  Chu, P.C.\n               , \n                  Wilson, J.J. 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