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The overall problem has been cast as an optimal control problem. The obstacle avoidance conditions have been for mulated as state-variable inequality constraints. These con straints are shown to be continuously differentiable in our formulation. The continuous-time problem is converted to a discrete-time problem to permit the use of nonlinear pro gramming algorithms for the heavily constrained problem. Computational issues such as discretization effects and al gorithmic efficiency have been addressed. Simulations are performed for the proposed method.<\/jats:p>","DOI":"10.1177\/027836499101000208","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"171-187","source":"Crossref","is-referenced-by-count":37,"title":["Manipulator Motion Planning in the Presence of Obstacles and Dynamic Constraints"],"prefix":"10.1177","volume":"10","author":[{"given":"S.K.","family":"Singh","sequence":"first","affiliation":[{"name":"Thayer School of Engineering Dartmouth College Hanover, New Hampshire"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.C.","family":"Leu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Industrial Engineering New Jersey Institute of Technology Newark, New Jersey"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,4,1]]},"reference":[{"key":"atypb1","volume-title":"Theoretical manual for IDESIGN","author":"Arora, J.S.","year":"1985"},{"key":"atypb2","volume-title":"Dynamic Programming","author":"Bellman, R.E.","year":"1957"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400301"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200402"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1137\/0307002"},{"key":"atypb6","volume-title":"Introduction to Numerical Analysis","author":"Bulirsch, R.","year":"1976"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1137\/0310048"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1007\/BF00927675"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.21236\/ADA181538"},{"key":"atypb10","volume-title":"Proceedings of the IEEE Conference on Robotics and Automation","author":"Dubowsky, S."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1985.1087003"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1007\/BF00932858"},{"issue":"11","key":"atypb13","doi-asserted-by":"crossref","first-page":"1040","DOI":"10.1109\/TAC.1984.1103414","volume":"29","author":"Hisahi, M.","year":"1984","journal-title":"IEEE Trans. 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