RoboKol: A computer program for path planning for redundant and mobile robots
Redundant manipulators are defined as having an infinite number of solutions to their joint variables. Their many degrees of freedom make them able to determine their configurations to reach the goal point while avoiding obstacles in the workspace. A computer program we named it RoboKol is introduce...
Saved in:
| Published in | Computer applications in engineering education Vol. 14; no. 3; pp. 198 - 210 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
Hoboken
Wiley Subscription Services, Inc., A Wiley Company
2006
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 1061-3773 1099-0542 |
| DOI | 10.1002/cae.20078 |
Cover
| Abstract | Redundant manipulators are defined as having an infinite number of solutions to their joint variables. Their many degrees of freedom make them able to determine their configurations to reach the goal point while avoiding obstacles in the workspace. A computer program we named it RoboKol is introduced in this paper, which performs path planning for redundant manipulators and mobile robots using potential field based algorithms. It has been developed in C++ for Windows platforms. Through a friendly user interface, the user can interact with the program and can perform a variety of operations such as drawing obstacles and robots on the screen, obtaining two‐ and three‐dimensional images of the potential field and performing robot simulations. Although RoboKol has originally been developed for research purposes, it is a convenient tool to teach potential fields, path planning for redundant manipulators and mobile robots in engineering education. Comput Appl Eng Educ 14: 198–210, 2006; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20078 |
|---|---|
| AbstractList | Redundant manipulators are defined as having an infinite number of solutions to their joint variables. Their many degrees of freedom make them able to determine their configurations to reach the goal point while avoiding obstacles in the workspace. A computer program we named it RoboKol is introduced in this paper, which performs path planning for redundant manipulators and mobile robots using potential field based algorithms. It has been developed in C++ for Windows platforms. Through a friendly user interface, the user can interact with the program and can perform a variety of operations such as drawing obstacles and robots on the screen, obtaining two- and three-dimensional images of the potential field and performing robot simulations. Although RoboKol has originally been developed for research purposes, it is a convenient tool to teach potential fields, path planning for redundant manipulators and mobile robots in engineering education. Comput Appl Eng Educ 14: 198-210, 2006; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20078. Redundant manipulators are defined as having an infinite number of solutions to their joint variables. Their many degrees of freedom make them able to determine their configurations to reach the goal point while avoiding obstacles in the workspace. A computer program we named it RoboKol is introduced in this paper, which performs path planning for redundant manipulators and mobile robots using potential field based algorithms. It has been developed in C++ for Windows platforms. Through a friendly user interface, the user can interact with the program and can perform a variety of operations such as drawing obstacles and robots on the screen, obtaining two‐ and three‐dimensional images of the potential field and performing robot simulations. Although RoboKol has originally been developed for research purposes, it is a convenient tool to teach potential fields, path planning for redundant manipulators and mobile robots in engineering education. Comput Appl Eng Educ 14: 198–210, 2006; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20078 Redundant manipulators are defined as having an infinite number of solutions to their joint variables. Their many degrees of freedom make them able to determine their configurations to reach the goal point while avoiding obstacles in the workspace. A computer program we named it RoboKol is introduced in this paper, which performs path planning for redundant manipulators and mobile robots using potential field based algorithms. It has been developed in C++ for Windows platforms. Through a friendly user interface, the user can interact with the program and can perform a variety of operations such as drawing obstacles and robots on the screen, obtaining two‐ and three‐dimensional images of the potential field and performing robot simulations. Although RoboKol has originally been developed for research purposes, it is a convenient tool to teach potential fields, path planning for redundant manipulators and mobile robots in engineering education. Comput Appl Eng Educ 14: 198–210, 2006; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/cae.20078 |
| Author | Conkur, Erdinc Sahin |
| Author_xml | – sequence: 1 givenname: Erdinc Sahin surname: Conkur fullname: Conkur, Erdinc Sahin email: sconkur@panukkale.edu.tr organization: Mechanical Engineering Department, Pamukkale University, Denizli 20017, Turkey |
| BookMark | eNp9kctKxDAUhoMoeF34Bl15WVTTXFt3w-CNGS-IIrgJp22q1TYZkwzq2xtn1IWoqxyS7_s55F9Fi8YajdBmhvcyjMl-BXqPYCzzBbSS4aJIMWdk8WMWWUqlpMto1ftHjHEhaLGCzq5saUe2O0gGSWX7yTRol0ycvXfQJ42NM4SHZNKBMa25n904XU9NDSYkYOqkt2Xb6cTFmODX0VIDndcbn-caujk6vB6epOOL49PhYJxWDNM81WVOqqYWjaxzCrzmVDREU1oLYHlTNnkJksia6_jGOEjgBadMS5CMZrzQdA1tz3Pjps9T7YPqW1_pLq6p7dQrGRNZwUUeya1_SRKTC0pEBHf-BTMhM8IIxTKi-3O0ctZ7pxtVtQFCa01w0HYqw-qjCxW7ULMuorH7w5i4tgf39iv7mf4S__Xtb1ANB4dfRjo3Wh_067cB7kkJSSVXt-fHisk7eonlSI3oOysJqM4 |
| CitedBy_id | crossref_primary_10_1002_cae_20573 crossref_primary_10_1016_j_sbspro_2010_03_064 |
| Cites_doi | 10.1017/S0263574797000672 10.1163/156855395X00201 10.1109/ROBOT.1997.619371 10.1002/rob.1033 10.1007/978-1-4615-4022-9 10.1016/0957-4158(93)90040-9 10.1177/027836498600500106 10.1109/70.163777 10.1002/(SICI)1097-4563(199906)16:6<339::AID-ROB3>3.0.CO;2-1 10.1177/027836499401300403 10.1177/027836498500400308 10.1002/rob.4620100704 10.1109/ROBOT.1990.126315 10.1016/S0921-8890(03)00083-6 |
| ContentType | Journal Article |
| Copyright | Copyright © 2006 Wiley Periodicals, Inc. |
| Copyright_xml | – notice: Copyright © 2006 Wiley Periodicals, Inc. |
| DBID | BSCLL AAYXX CITATION 7SC 7TB 8FD FR3 JQ2 KR7 L7M L~C L~D |
| DOI | 10.1002/cae.20078 |
| DatabaseName | Istex CrossRef Computer and Information Systems Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Civil Engineering Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
| DatabaseTitle | CrossRef Civil Engineering Abstracts Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Civil Engineering Abstracts Civil Engineering Abstracts CrossRef Civil Engineering Abstracts |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1099-0542 |
| EndPage | 210 |
| ExternalDocumentID | 10_1002_cae_20078 CAE20078 ark_67375_WNG_47Z3P07K_K |
| Genre | article |
| GroupedDBID | .3N .DC .GA .Y3 05W 0R~ 10A 1L6 1OB 1OC 31~ 33P 3SF 3WU 4.4 50Y 50Z 51W 51X 52M 52N 52O 52P 52S 52T 52U 52W 52X 5GY 5VS 66C 6TJ 702 7PT 8-0 8-1 8-3 8-4 8-5 8UM 930 A03 AAESR AAEVG AAHQN AAHSB AAMMB AAMNL AANHP AANLZ AAONW AASGY AAXRX AAYCA AAZKR ABCQN ABCUV ABEML ABIJN ABJNI ABPVW ACAHQ ACBWZ ACCZN ACGFS ACIWK ACPOU ACRPL ACSCC ACXBN ACXQS ACYXJ ADBBV ADEOM ADIZJ ADKYN ADMGS ADMLS ADNMO ADOZA ADXAS ADZMN AEFGJ AEIGN AEIMD AENEX AEUYR AEYWJ AFBPY AFFNX AFFPM AFGKR AFWVQ AFZJQ AGHNM AGQPQ AGXDD AGYGG AHBTC AIDQK AIDYY AIQQE AITYG AIURR AJXKR ALAGY ALMA_UNASSIGNED_HOLDINGS ALUQN ALVPJ AMBMR AMYDB ASPBG ATUGU AUFTA AVWKF AZBYB AZFZN AZVAB BAFTC BDRZF BFHJK BHBCM BMNLL BMXJE BNHUX BROTX BRXPI BSCLL BY8 CMOOK CS3 D-E D-F DCZOG DPXWK DR2 DRFUL DRSTM DU5 EBS EJD F00 F01 F04 FEDTE G-S G.N GNP GODZA H.T H.X HF~ HGLYW HVGLF HZ~ IX1 J0M JPC KQQ LATKE LAW LC2 LC3 LEEKS LH4 LITHE LOXES LP6 LP7 LUTES LW6 LYRES MEWTI MK4 MRFUL MRSTM MSFUL MSSTM MXFUL MXSTM N04 N05 N9A NF~ O66 O9- OIG P2P P2W P2X P4D PALCI PQQKQ Q.N Q11 QB0 QRW R.K RIWAO RJQFR ROL RX1 RYL SAMSI SUPJJ TN5 UB1 W8V W99 WBKPD WIH WIK WLBEL WOHZO WQJ WXSBR WYISQ XG1 XPP XV2 ZZTAW ~IA ~WT AAYXX CITATION 7SC 7TB 8FD FR3 JQ2 KR7 L7M L~C L~D |
| ID | FETCH-LOGICAL-c4038-eb82cfd6f7d83a5d536f2e33d6a48fbf8ba727d5ea5d45a7a59534e7a743159e3 |
| IEDL.DBID | DR2 |
| ISSN | 1061-3773 |
| IngestDate | Fri Sep 05 07:12:17 EDT 2025 Fri Sep 05 06:27:08 EDT 2025 Thu Sep 04 19:51:53 EDT 2025 Thu Apr 24 22:56:48 EDT 2025 Wed Oct 01 02:43:56 EDT 2025 Sun Sep 21 06:23:59 EDT 2025 Sun Sep 21 06:19:25 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 3 |
| Language | English |
| License | http://onlinelibrary.wiley.com/termsAndConditions#vor |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c4038-eb82cfd6f7d83a5d536f2e33d6a48fbf8ba727d5ea5d45a7a59534e7a743159e3 |
| Notes | ark:/67375/WNG-47Z3P07K-K istex:56C8DFE9924F24A51A380B0C0206A9C2C911D0AA ArticleID:CAE20078 ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 23 ObjectType-Article-2 ObjectType-Feature-1 |
| PQID | 1671242307 |
| PQPubID | 23500 |
| PageCount | 13 |
| ParticipantIDs | proquest_miscellaneous_753649568 proquest_miscellaneous_29539326 proquest_miscellaneous_1671242307 crossref_citationtrail_10_1002_cae_20078 crossref_primary_10_1002_cae_20078 wiley_primary_10_1002_cae_20078_CAE20078 istex_primary_ark_67375_WNG_47Z3P07K_K |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2006 |
| PublicationDateYYYYMMDD | 2006-01-01 |
| PublicationDate_xml | – year: 2006 text: 2006 |
| PublicationDecade | 2000 |
| PublicationPlace | Hoboken |
| PublicationPlace_xml | – name: Hoboken |
| PublicationTitle | Computer applications in engineering education |
| PublicationTitleAlternate | Comput. Appl. Eng. Educ |
| PublicationYear | 2006 |
| Publisher | Wiley Subscription Services, Inc., A Wiley Company |
| Publisher_xml | – name: Wiley Subscription Services, Inc., A Wiley Company |
| References | S. Ma, S. Hirose, and H. Yoshinada, Development of hyper-redundant manipulator for maintenance of nuclear reactor, Adv Robot 9 (1995), 281-300. A. Graham and R. Buckingham, Real time collision avoidance of manipulators with multiple redundancy, Mechatronics 3 (1993), 89-106. T. C. Liang and J. S. Liu, An improved trajectory planner for redundant manipulators in constrained workspace, J Robot Syst 16 (1999), 339-351. D. Hsu, J. Latombe, and R. Motwani, Path planning in expensive C-spaces, IEEE International Conference on Robotics and Automation (1997), 2719-2726. E. Rimon and D. E. Koditschek, Exact robot navigation using artificial potential functions, IEEE Trans Robot Autom 8 (1992), 501-517. A. A. Maciejewski and C. A. Klein, Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments, Int J Robot Res 4 (1985), 109-117. E. S. Conkur, Path following algorithm for highly redundant manipulators, Robot Auton Syst 45 (2003), 1-22. A. Zelinsky, Using path transforms to guide the search for find path in 2D, Int J Robot Res 13 (1994), 315-325. S. W. Kim and D. Boley, Building and navigating a network of local minima, J Robot Syst 18 (2001), 405-419. O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, Int J Robot Res 5 (1986), 90-98. C. I. Connolly, J. B. Burns, and R. Weiss, Path planning using Laplace's equation, IEEE International Conference on Robotics and Automation (1990), 2102-2106. C. Connolly and R. Grupen, The application of harmonic functions to robotics, J Robot Syst 10 (1993), 931-946. F. Janabi-Sharifi and D. Vinke, Robot path planning by integration the artificial potential field approach with simulated annealing, IEEE International Conference on Robotics and Automation (1993), 282-287. E. S. Conkur and R. Buckingham, Clarifying the definition of redundancy as used in robotics, Robotica 15 (1997), 583-586. J. Latombe, Robot motion planning, Kluwer, Norwell, MA, 1991. 1995; 9 1992; 8 1990 1985; 4 1997; 15 1999; 16 1993; 10 1986; 5 1997 1994; 13 1993 1991 2001; 18 1993; 3 2003; 45 Janabi‐Sharifi F. (e_1_2_1_10_2) 1993 e_1_2_1_6_2 e_1_2_1_7_2 e_1_2_1_4_2 e_1_2_1_5_2 e_1_2_1_2_2 e_1_2_1_11_2 e_1_2_1_3_2 e_1_2_1_12_2 e_1_2_1_15_2 e_1_2_1_16_2 e_1_2_1_13_2 e_1_2_1_14_2 e_1_2_1_8_2 e_1_2_1_9_2 |
| References_xml | – reference: E. Rimon and D. E. Koditschek, Exact robot navigation using artificial potential functions, IEEE Trans Robot Autom 8 (1992), 501-517. – reference: A. Graham and R. Buckingham, Real time collision avoidance of manipulators with multiple redundancy, Mechatronics 3 (1993), 89-106. – reference: C. I. Connolly, J. B. Burns, and R. Weiss, Path planning using Laplace's equation, IEEE International Conference on Robotics and Automation (1990), 2102-2106. – reference: J. Latombe, Robot motion planning, Kluwer, Norwell, MA, 1991. – reference: A. Zelinsky, Using path transforms to guide the search for find path in 2D, Int J Robot Res 13 (1994), 315-325. – reference: E. S. Conkur, Path following algorithm for highly redundant manipulators, Robot Auton Syst 45 (2003), 1-22. – reference: T. C. Liang and J. S. Liu, An improved trajectory planner for redundant manipulators in constrained workspace, J Robot Syst 16 (1999), 339-351. – reference: O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, Int J Robot Res 5 (1986), 90-98. – reference: S. Ma, S. Hirose, and H. Yoshinada, Development of hyper-redundant manipulator for maintenance of nuclear reactor, Adv Robot 9 (1995), 281-300. – reference: C. Connolly and R. Grupen, The application of harmonic functions to robotics, J Robot Syst 10 (1993), 931-946. – reference: E. S. Conkur and R. Buckingham, Clarifying the definition of redundancy as used in robotics, Robotica 15 (1997), 583-586. – reference: A. A. Maciejewski and C. A. Klein, Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments, Int J Robot Res 4 (1985), 109-117. – reference: D. Hsu, J. Latombe, and R. Motwani, Path planning in expensive C-spaces, IEEE International Conference on Robotics and Automation (1997), 2719-2726. – reference: F. Janabi-Sharifi and D. Vinke, Robot path planning by integration the artificial potential field approach with simulated annealing, IEEE International Conference on Robotics and Automation (1993), 282-287. – reference: S. W. Kim and D. Boley, Building and navigating a network of local minima, J Robot Syst 18 (2001), 405-419. – volume: 16 start-page: 339 year: 1999 end-page: 351 article-title: An improved trajectory planner for redundant manipulators in constrained workspace publication-title: J Robot Syst – volume: 45 start-page: 1 year: 2003 end-page: 22 article-title: Path following algorithm for highly redundant manipulators publication-title: Robot Auton Syst – volume: 4 start-page: 109 year: 1985 end-page: 117 article-title: Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments publication-title: Int J Robot Res – volume: 5 start-page: 90 year: 1986 end-page: 98 article-title: Real‐time obstacle avoidance for manipulators and mobile robots publication-title: Int J Robot Res – volume: 15 start-page: 583 year: 1997 end-page: 586 article-title: Clarifying the definition of redundancy as used in robotics publication-title: Robotica – start-page: 2102 year: 1990 end-page: 2106 article-title: Path planning using Laplace's equation publication-title: IEEE International Conference on Robotics and Automation – volume: 10 start-page: 931 year: 1993 end-page: 946 article-title: The application of harmonic functions to robotics publication-title: J Robot Syst – volume: 18 start-page: 405 year: 2001 end-page: 419 article-title: Building and navigating a network of local minima publication-title: J Robot Syst – start-page: 282 year: 1993 end-page: 287 article-title: Robot path planning by integration the artificial potential field approach with simulated annealing publication-title: IEEE International Conference on Robotics and Automation – start-page: 2719 year: 1997 end-page: 2726 article-title: Path planning in expensive C‐spaces publication-title: IEEE International Conference on Robotics and Automation – volume: 3 start-page: 89 year: 1993 end-page: 106 article-title: Real time collision avoidance of manipulators with multiple redundancy publication-title: Mechatronics – volume: 8 start-page: 501 year: 1992 end-page: 517 article-title: Exact robot navigation using artificial potential functions publication-title: IEEE Trans Robot Autom – year: 1991 – volume: 13 start-page: 315 year: 1994 end-page: 325 article-title: Using path transforms to guide the search for find path in 2D publication-title: Int J Robot Res – volume: 9 start-page: 281 year: 1995 end-page: 300 article-title: Development of hyper‐redundant manipulator for maintenance of nuclear reactor publication-title: Adv Robot – start-page: 282 year: 1993 ident: e_1_2_1_10_2 article-title: Robot path planning by integration the artificial potential field approach with simulated annealing publication-title: IEEE International Conference on Robotics and Automation – ident: e_1_2_1_2_2 doi: 10.1017/S0263574797000672 – ident: e_1_2_1_4_2 doi: 10.1163/156855395X00201 – ident: e_1_2_1_8_2 doi: 10.1109/ROBOT.1997.619371 – ident: e_1_2_1_11_2 doi: 10.1002/rob.1033 – ident: e_1_2_1_7_2 doi: 10.1007/978-1-4615-4022-9 – ident: e_1_2_1_3_2 doi: 10.1016/0957-4158(93)90040-9 – ident: e_1_2_1_9_2 doi: 10.1177/027836498600500106 – ident: e_1_2_1_12_2 doi: 10.1109/70.163777 – ident: e_1_2_1_6_2 doi: 10.1002/(SICI)1097-4563(199906)16:6<339::AID-ROB3>3.0.CO;2-1 – ident: e_1_2_1_16_2 doi: 10.1177/027836499401300403 – ident: e_1_2_1_5_2 doi: 10.1177/027836498500400308 – ident: e_1_2_1_13_2 doi: 10.1002/rob.4620100704 – ident: e_1_2_1_14_2 doi: 10.1109/ROBOT.1990.126315 – ident: e_1_2_1_15_2 doi: 10.1016/S0921-8890(03)00083-6 |
| SSID | ssj0009639 |
| Score | 1.649347 |
| Snippet | Redundant manipulators are defined as having an infinite number of solutions to their joint variables. Their many degrees of freedom make them able to... |
| SourceID | proquest crossref wiley istex |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 198 |
| SubjectTerms | Manipulators Mathematical analysis Mathematical models mobile robots Path planning potential field method Potential fields Redundant redundant manipulators Robot arms Robots |
| Title | RoboKol: A computer program for path planning for redundant and mobile robots |
| URI | https://api.istex.fr/ark:/67375/WNG-47Z3P07K-K/fulltext.pdf https://onlinelibrary.wiley.com/doi/abs/10.1002%2Fcae.20078 https://www.proquest.com/docview/1671242307 https://www.proquest.com/docview/29539326 https://www.proquest.com/docview/753649568 |
| Volume | 14 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVEBS databaseName: Inspec with Full Text customDbUrl: eissn: 1099-0542 dateEnd: 20241105 omitProxy: false ssIdentifier: ssj0009639 issn: 1061-3773 databaseCode: ADMLS dateStart: 19940101 isFulltext: true titleUrlDefault: https://www.ebsco.com/products/research-databases/inspec-full-text providerName: EBSCOhost – providerCode: PRVWIB databaseName: Wiley Online Library - Core collection (SURFmarket) issn: 1061-3773 databaseCode: DR2 dateStart: 19960101 customDbUrl: isFulltext: true eissn: 1099-0542 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0009639 providerName: Wiley-Blackwell |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3dS-QwEB9EX86HOz097PmVExFfqm3TJNu7p0X0xEURUZRDCEmbvKit7AeIf72TtN1VcUHurbTTMs1MMr_Jx28Ati2OdzaPVcgziwmKNTRUVqVhnNokY1mkbOROI5-e8eOr9OSG3czAn_YsTM0PMZ5wcz3Dj9eugys92J-QhubKs1wKd9A3ptynUxcT6ih0rMyvdLr5FSFoyyoUJfvjN9_EojnXrE9vgOZruOrjzdE3uG01rbeZ3O2Nhnovf35H4vifv7IAXxscSrq14yzCjCm_w_wrdsIlOL2odNWr7n-TLsmb4g-k2c9FEOsSV82YPDZVj_ydvnGH0tBYRJUFeag0qkP6-JnhYBmujg4vD47DpvpCmKcRjoJGd5LcFtyKokMVKxjlNjGUFlylHattRyvEPgUz-CxlSiiWMZoaoRwmYZmhP2C2rEqzAoQxLbihiWCCImDD8KC1SUSmMYQyEWUB7LZ2kHlDTe4qZNzLmlQ5kdhC0rdQAFtj0ceaj-MjoR1vzLGE6t-5DWyCyeuzvzIV_-h5JHqyF8Cv1toSu5VbK1GlqUYDGXMRO6gZiQA2p8igM1MHfwMgUyQwF-QuA0WNdr0DTNdZHnQP_cXPz4uuwpfJjNAazA77I7OOGGmoN3xneAHaZguO |
| linkProvider | Wiley-Blackwell |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3dT9swED8xeNj2sO9pYTC8aZp4CaTxVzLxUiFYt9JqQqAhpMmyE_sFSFBppWl_PWcnaWFapWlvUXKJHN-d_buz_TuAjw7HO1f0dCxyhwGKszTWTrO4x1ya8zzRLvGnkUdjMThl38742QrsdWdhGn6IecLNe0YYr72D-4T07oI1tNCB5lJmD2CNCYxTPCQ6XpBHoWnlYa3TZ1ikpB2vUJLuzl-9Nxut-Y79dQ9q3gWsYcY5fAo_u7Y2G00udmZTs1P8_oPG8X9_5hk8aaEo6Te28xxWbPUCHt8hKHwJo-Pa1MP68jPpk6Kt_0DaLV0E4S7xBY3JdVv4KNyZWH8uDfVFdFWSq9pge8gEPzO9eQWnhwcn-4O4LcAQFyzBgdCaLC1cKZwsM6p5yalwqaW0FJplzrjMaIQ_Jbf4jHEtNc85ZVZqD0t4bulrWK3qyr4BwrmRwtJUckkRs-EMYYxNZW5wFuUyySPY7hShipad3BfJuFQNr3KqsIdU6KEIPsxFrxtKjr8JfQranEvoyYXfwya5-jH-opg8p98TOVTDCN536lboWX65RFe2nt2onpA9jzYTGcHWEhm0Z-oRcARkiQSGg8IHodii7WABy9us9vsH4WL930W34OHgZHSkjr6Oh2_h0SJBtAGr08nMbiJkmpp3wTNuAZumD68 |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3fb9MwED6NTULwsPFTZBvMIIT2ki2N7ThGvFTbyqCsmiYmJiRk2Yn9spFUXStN_PWcnaTdEJUQb1FyiRzfne-zff4O4K3D8c4VPR1n0uEExVkaa6dZ3GMulVwm2iX-NPLJKDs-Z58v-MUKfOjOwjT8EPMFN-8ZYbz2Dm7HpdtfsIYWOtBcivwerDEuc5_Qd3i2II9C05Jhr9OvsAhBO16hJN2fv3onGq35jr25AzVvA9YQcQYb8KNra5Nocrk3m5q94tcfNI7_-zOPYL2FoqTf2M5jWLHVE3h4i6DwKZyc1aYe1lfvSZ8Ubf0H0qZ0EYS7xBc0JuO28FG4M7H-XBrqi-iqJD9rg-0hE_zM9PoZnA-Ovh4cx20BhrhgCQ6E1uRp4crMiTKnmpecZi61lJaZZrkzLjca4U_JLT5jXAvNJafMCu1hCZeWPofVqq7sCyCcG5FZmgouKGI2jBDG2FRIg1GUi0RGsNspQhUtO7kvknGlGl7lVGEPqdBDEbyZi44bSo6_Cb0L2pxL6Mmlz2ETXH0bfVRMfKeniRiqYQSvO3Ur9Cy_XaIrW8-uVS8TPY82ExHBzhIZtGfqEXAEZIkETgczPwnFFu0GC1jeZnXQPwoXm_8uugP3Tw8H6sun0XALHizWh7ZhdTqZ2ZeImKbmVXCM3y3rDzM |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=RoboKol%3A+A+computer+program+for+path+planning+for+redundant+and+mobile+robots&rft.jtitle=Computer+applications+in+engineering+education&rft.au=Conkur%2C+Erdinc+Sahin&rft.date=2006&rft.issn=1061-3773&rft.volume=14&rft.issue=3&rft.spage=198&rft.epage=210&rft_id=info:doi/10.1002%2Fcae.20078&rft.externalDBID=NO_FULL_TEXT |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1061-3773&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1061-3773&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1061-3773&client=summon |