{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:56:19Z","timestamp":1777715779725,"version":"3.51.4"},"reference-count":26,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2008,5,1]],"date-time":"2008-05-01T00:00:00Z","timestamp":1209600000000},"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":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2008,5]]},"abstract":"<jats:p>This paper deals with minimum time trajectory optimization along a specified path subject to thermal constraints. We point out here that robots are often integrated into complex robotic cells, and the interactions between the robot and its environment are often difficult or even impossible to model. The structure of the optimization problem allows us to decompose the optimization into two levels, the first being based on models and results of the theory of the calculus of variations, the second being based on measurements and derivative free algorithms. This decomposition allows us to optimize the velocity profiles efficiently without any advance knowledge of the interactions between the robot and its environment. We propose here two numerical algorithms for these two levels of the decomposition which show good convergence properties. The resulting optimal velocity profiles are 5\u201410% faster than classical profiles, and have been executed successfully on a real St\u00e4ubli Rx90 manipulator robot.<\/jats:p>","DOI":"10.1177\/0278364908090465","type":"journal-article","created":{"date-parts":[[2008,4,25]],"date-time":"2008-04-25T10:19:44Z","timestamp":1209118784000},"page":"629-644","source":"Crossref","is-referenced-by-count":6,"title":["Optimization of Complex Robot Applications under Real Physical Limitations"],"prefix":"10.1177","volume":"27","author":[{"given":"M.","family":"Guilbert","sequence":"first","affiliation":[{"name":"St\u00e4ubli Robotics Faverges"}]},{"given":"L.","family":"Joly","sequence":"additional","affiliation":[{"name":"St\u00e4ubli Robotics Faverges"}]},{"given":"P.-B.","family":"Wieber","sequence":"additional","affiliation":[{"name":"INRIA Rh\u00f4ne Alpes,"}]}],"member":"179","published-online":{"date-parts":[[2008,5,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100106"},{"key":"atypb2","volume-title":"Proceedings of the Australasian Conference on Robotics and Automation","author":"Biggs, G."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-05078-1"},{"key":"atypb5","volume-title":"Applied Optimal Control, Optimization, Estimation and Control","author":"Bryson, A.","year":"1975"},{"key":"atypb6","volume-title":"Proceedings of the 16th International Symposium on Mathematical Programming (ISMP97)","author":"Conn, A."},{"key":"atypb7","volume-title":"Motor controller. Japan Patent JP2001292586","author":"Denso Corp.","year":"2001"},{"key":"atypb8","volume-title":"Displaying method for duty of industrial robot. Japan Patent JP7087787","author":"Fanuc Ltd","year":"1995"},{"key":"atypb9","volume-title":"Practical Methods of Optimization","author":"Fletcher, R.","year":"1987","edition":"2"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149652"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899080"},{"key":"atypb12","volume-title":"Mod\u00e9lisation, identification et commande des robots","author":"Khalil, W.","year":"1999"},{"key":"atypb13","volume-title":"Method for foreseeing working limit of teaching playback type robot. Japan Patent JP63126009","author":"Kobe Steel Ltd","year":"1988"},{"key":"atypb14","volume-title":"User's guide for CFSQP version 2.5: a C code for solving (large scale) constrained nonlinear (minimax) optimization problems, generating iterates satisfying all inequality constraints. Technical Report, University of Maryland, Institute for Systems Research","author":"Lawrence, C.","year":"1997"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103181"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1080\/002071700405905"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(91)90111-E"},{"key":"atypb18","volume-title":"Controller for industrial robot. Japan Patent JP1020990","author":"Matsuhita Electric Ind. Co. Ltd","year":"1989"},{"key":"atypb19","doi-asserted-by":"crossref","DOI":"10.1093\/oso\/9780198532170.001.0001","volume-title":"Optimal Control and the Calculus of Variations","author":"Pinch, E.","year":"1993"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1093\/comjnl\/7.2.155"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1017\/S0962492900002841"},{"key":"atypb22","volume-title":"Proceedings of the 40th Workshop on Large Scale Nonlinear Optimization","author":"Powell, M."},{"key":"atypb23","volume-title":"Transferts thermiques, M\u00e9canique des fluides anisothermes","author":"Taine, J.","year":"1998"},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1093\/imamat\/12.3.339"},{"key":"atypb25","volume-title":"Statistique: Economie, Gestion, Sciences, M\u00e9decine","author":"Wonnacott, T.","year":"1990"},{"key":"atypb26","volume-title":"Proceedings IEEE International Conference on Robotics and Automation","author":"\u017dlajpah, L."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908090465","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908090465","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:21Z","timestamp":1777457781000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364908090465"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,5]]},"references-count":26,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2008,5]]}},"alternative-id":["10.1177\/0278364908090465"],"URL":"https:\/\/doi.org\/10.1177\/0278364908090465","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,5]]}}}