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It also accounts for both the presence of obstacles in the work space and restrictions on the motion of the manipulator's joints. The method is com putationally practical and has been implemented for the optimal trajectory planning of general six degree-of-freedom manipulators. Examples are presented that demonstrate the substantial improvement in manipulator performance that can be achieved using this method.<\/jats:p>","DOI":"10.1177\/027836498900800601","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"3-18","source":"Crossref","is-referenced-by-count":122,"title":["Robot Path Planning with Obstacles, Actuator, Gripper, and Payload Constraints"],"prefix":"10.1177","volume":"8","author":[{"given":"Zvi","family":"Shiller","sequence":"first","affiliation":[{"name":"Mechanical, Aerospace, and Nuclear Engineering Department University of California Los Angeles, California 90024"}]},{"given":"Steven","family":"Dubowsky","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge, Massachusetts 02139"}]}],"member":"179","published-online":{"date-parts":[[1989,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/56.811"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102266"},{"key":"atypb4","volume-title":"Applied Optimal Control","author":"Bryson, A.E.","year":"1975"},{"key":"atypb5","first-page":"1211","author":"Chen Y.","year":"1988","journal-title":"IEEE Int. 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