{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T13:41:23Z","timestamp":1777902083175,"version":"3.51.4"},"reference-count":31,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2004,6,1]],"date-time":"2004-06-01T00:00:00Z","timestamp":1086048000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["SIMULATION"],"published-print":{"date-parts":[[2004,6]]},"abstract":"<jats:p>Robotic arms often perform industrial tasks requiring complex dextrous manipulation within constrained spaces. For example, automobile unibody assembly can require more than 5000 welds, with many performed within the vehicle\u2019s interior. An arm can be designed specifically for this type of task by permuting link lengths and degrees of freedom (DOF) to find a set of feasible designs. Each design can be evaluated for joint-angle displacement, dexterity, simulated speed, and consumption of available redundancy. A heuristic search increases the probability of having the needed kinematic structure. Hyperredundant designs of up to 10 DOF can be created, and searches often yield minimized-DOF designs. The path-planning technique combines pseudo-inverse velocity control with the concept of attractive poles to allow maneuvering through complex enclosures while avoiding many obstacles. This research provides a means of rapid-prototyping robotic arms for enclosed spaces and can yield many designs locally optimized for given tasks and environments.<\/jats:p>","DOI":"10.1177\/0037549704046338","type":"journal-article","created":{"date-parts":[[2004,9,13]],"date-time":"2004-09-13T20:00:29Z","timestamp":1095105629000},"page":"301-316","source":"Crossref","is-referenced-by-count":5,"title":["Simulating a Robotic Arm in a Box: Redundant Kinematics, Path Planning, and                 Rapid Prototyping for Enclosed Spaces"],"prefix":"10.1177","volume":"80","author":[{"given":"Joseph T.","family":"Wunderlich","sequence":"first","affiliation":[{"name":"Elizabethtown College, Computer Science and Computer Engineering                         Programs, Elizabethtown, PA 17022,"}]}],"member":"179","published-online":{"date-parts":[[2004,6,1]]},"reference":[{"key":"atypb1","volume-title":"Dispelling the manufacturing myth: American factories can compete in the global marketplace","author":"National Research Council","year":"1992"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1002\/9780470172506"},{"key":"atypb3","volume-title":"TWI image library","author":"TWI World Center for Materials Joining Technology","year":"2004"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1137\/1001003"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.9746\/sicetr1965.20.453"},{"key":"atypb6","volume-title":"Proceedings of the IFAC Control Science and Technology 8th Triennial World Congress","author":"Hanafusa, H."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600201"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"key":"atypb9","volume-title":"Proceedings of the RAAD\u201903 Int. 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