{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:34:02Z","timestamp":1760888042766,"version":"3.38.0"},"reference-count":14,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1997,10,1]],"date-time":"1997-10-01T00:00:00Z","timestamp":875664000000},"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":[[1997,10]]},"abstract":"<jats:p> A new objective function is introduced to solve the under- specified inverse-kinematic problem of multiple-redundant manipulators. The objective function, Maximum Distance Criterion (MXDC), is based on the sum of the distances be tween key points along each of the manipulator kinematic structures. These points are called configuration control points (CCP), and are selected to represent sufficiently the manipula tor's configuration in Cartesian space. The objective function is used as a global criterion in multiple-redundant arm-joint con figuration optimization, enabling safe joint configurations to be determined while the robots are tracking desired end-effector trajectories. MXDC is tested using computer simulations, and compared with other existing criteria for optimizing multiple- redundant manipulator configurations. The proper selection of a set of configuration control points is vitally important in the application of MXDC. This is investigated in a series of simu lation examples, and qualitative guidelines for choosing CCP are presented. <\/jats:p>","DOI":"10.1177\/027836499701600508","type":"journal-article","created":{"date-parts":[[2007,3,5]],"date-time":"2007-03-05T01:24:06Z","timestamp":1173057846000},"page":"714-724","source":"Crossref","is-referenced-by-count":11,"title":["Collision Avoidance in Multiple-Redundant Manipulators"],"prefix":"10.1177","volume":"16","author":[{"given":"U.","family":"Sezgin","sequence":"first","affiliation":[{"name":"King's College London Department of Mechanical Engineering The Strand, London WC2R 2LS, United Kingdom"}]},{"given":"L.D.","family":"Seneviratne","sequence":"additional","affiliation":[{"name":"King's College London Department of Mechanical Engineering The Strand, London WC2R 2LS, United Kingdom"}]},{"given":"S.W.E.","family":"Earles","sequence":"additional","affiliation":[{"name":"King's College London Department of Mechanical Engineering The Strand, London WC2R 2LS, United Kingdom"}]}],"member":"179","published-online":{"date-parts":[[1997,10,1]]},"reference":[{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 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Automat."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/70.88020"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1977.4309644"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070607"},{"key":"atypb13","unstructured":"Sezgin, U. 1995. Utilization of manipulator redundancies for collision avoidance strategies. PhD Thesis, Department of Mechanical Engineering. University of London Library, pp. 64-123."},{"volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation, IEEE","author":"Yoshikawa, T.","key":"atypb14"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499701600508","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499701600508","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T11:48:30Z","timestamp":1740829710000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499701600508"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,10]]},"references-count":14,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1997,10]]}},"alternative-id":["10.1177\/027836499701600508"],"URL":"https:\/\/doi.org\/10.1177\/027836499701600508","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[1997,10]]}}}