{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:56:12Z","timestamp":1777715772363,"version":"3.51.4"},"reference-count":10,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2000,9,1]],"date-time":"2000-09-01T00:00:00Z","timestamp":967766400000},"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":[[2000,9]]},"abstract":"<jats:p>The center of mass space is a convenient space for planning motions that minimize reaction forces at the manipulator\u2019s base or optimize the stability of a mechanism. A unique problem associated with path planning in the center of mass space is the potential existence of multiple center of mass images for a single Cartesian obstacle, since a single center of mass location can correspond to multiple manipulator joint configurations. The existence of multiple images results in a need to either maintain multiple center of mass obstacle maps or to update obstacle locations when the manipulator passes through a singularity, such as when it moves from an elbow-up to an elbow-down configuration. To illustrate the concepts presented in this paper, a path is planned for an example task requiring motion through multiple center of mass space maps. The object of the path-planning algorithm is to locate the path with a bang-bang acceleration profile that minimizes the manipulator\u2019s base reactions in the presence of a single Cartesian obstacle. To simplify the presentation, only nonredundant manipulators are considered and joint nonlinearities are neglected.<\/jats:p>","DOI":"10.1177\/02783640022067210","type":"journal-article","created":{"date-parts":[[2004,12,17]],"date-time":"2004-12-17T20:23:10Z","timestamp":1103314990000},"page":"848-856","source":"Crossref","is-referenced-by-count":1,"title":["Multiple Center of Mass Space Images of Single Objects and Their Impact on                 Path Planning"],"prefix":"10.1177","volume":"19","author":[{"given":"William R.","family":"Doggett","sequence":"first","affiliation":[{"name":"System Integration Branch, NASA Langley Research Center, Hampton,                         Virginia 23681-0001, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"William C.","family":"Messner","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Carnegie Mellon University,                         Pittsburgh, Pennsylvania 15251-6224, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jer-Nan","family":"Juang","sequence":"additional","affiliation":[{"name":"Structural Dynamics Branch, NASA Langley Research Center, Hampton,                         Virginia 23681-0001, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2000,9,1]]},"reference":[{"key":"atypb1","unstructured":"Bell, M. 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