{"id":"https://openalex.org/W1997872273","doi":"https://doi.org/10.1002/rob.4620080604","title":"On the connectivity of manipulator free workspace","display_name":"On the connectivity of manipulator free workspace","publication_year":1991,"publication_date":"1991-12-01","ids":{"openalex":"https://openalex.org/W1997872273","doi":"https://doi.org/10.1002/rob.4620080604","mag":"1997872273"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620080604","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620080604","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076754606","display_name":"Ph. Wenger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Wenger","raw_affiliation_strings":["Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la Noe\u0308 Nantes, FRANCE","Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la No\u00eb Nantes, FRANCE"],"affiliations":[{"raw_affiliation_string":"Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la Noe\u0308 Nantes, FRANCE","institution_ids":["https://openalex.org/I4210117005"]},{"raw_affiliation_string":"Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la No\u00eb Nantes, FRANCE","institution_ids":["https://openalex.org/I4210117005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017784754","display_name":"P. Chedmail","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Chedmail","raw_affiliation_strings":["Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la Noe\u0308 Nantes, FRANCE","Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la No\u00eb Nantes, FRANCE"],"affiliations":[{"raw_affiliation_string":"Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la Noe\u0308 Nantes, FRANCE","institution_ids":["https://openalex.org/I4210117005"]},{"raw_affiliation_string":"Laboratoire d'Automatique de Nantes (C.N.R.S. Unit No. 823) E.N.S.M. 1, rue de la No\u00eb Nantes, FRANCE","institution_ids":["https://openalex.org/I4210117005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076754606"],"corresponding_institution_ids":["https://openalex.org/I4210117005"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.13723593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"8","issue":"6","first_page":"767","last_page":"799"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.9739711284637451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6558403372764587},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6465088129043579},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5910235643386841},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5661199688911438},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.519402265548706},{"id":"https://openalex.org/keywords/octree","display_name":"Octree","score":0.5097483992576599},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49909448623657227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48852646350860596},{"id":"https://openalex.org/keywords/linear-subspace","display_name":"Linear subspace","score":0.47791561484336853},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4522271454334259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40071409940719604},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21421170234680176},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09700629115104675}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9739711284637451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6558403372764587},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6465088129043579},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5910235643386841},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5661199688911438},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.519402265548706},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.5097483992576599},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49909448623657227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48852646350860596},{"id":"https://openalex.org/C12362212","wikidata":"https://www.wikidata.org/wiki/Q728435","display_name":"Linear subspace","level":2,"score":0.47791561484336853},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4522271454334259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40071409940719604},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21421170234680176},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09700629115104675},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/rob.4620080604","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620080604","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02355226v1","is_oa":false,"landing_page_url":"https://hal.science/hal-02355226","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotic Systems, 1991, 8 (6), pp.767-799. ⟨10.1002/rob.4620080604⟩","raw_type":"Journal articles"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.44999998807907104,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1556795538","https://openalex.org/W1602132814","https://openalex.org/W1901697964","https://openalex.org/W1964105465","https://openalex.org/W1983103208","https://openalex.org/W2024403195","https://openalex.org/W2051839445","https://openalex.org/W2053482006","https://openalex.org/W2060929344","https://openalex.org/W2102828669","https://openalex.org/W2118809396","https://openalex.org/W2130913850","https://openalex.org/W2132398204","https://openalex.org/W2141128560","https://openalex.org/W2142517568","https://openalex.org/W2150500908","https://openalex.org/W2166805368","https://openalex.org/W2170220350","https://openalex.org/W2687542041","https://openalex.org/W4213234375"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W2952364160","https://openalex.org/W2025881859"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"article":[2],"presents":[3],"a":[4,90,123,151],"new":[5,57,152],"topological":[6],"characterization":[7],"of":[8,12,23,30,40,42,51,56,60,70,75,100,103,130,142,157],"the":[9,21,28,31,37,49,52,61,79,84,101,104,112,155],"free":[10,18,62,106],"workspace":[11,19,63,107],"manipulators":[13],"moving":[14],"among":[15],"obstacles.":[16],"The":[17],"is":[20,64,95,141,150],"set":[22],"positions":[24],"and":[25,45,92,108,149],"orientations":[26],"that":[27,78,138],"end\u2010effector":[29],"manipulator":[32,80],"can":[33,81],"reach,":[34],"according":[35],"to":[36,67,110,154],"joint":[38],"limits":[39],"each":[41,88],"its":[43],"links,":[44],"taking":[46],"into":[47],"account":[48],"obstacles":[50],"environment.":[53],"A":[54],"classification":[55],"connectivity":[58,102],"properties":[59,118],"proposed,":[65],"corresponding":[66],"different":[68],"types":[69],"motions":[71],"(point\u2010to\u2010point":[72],"motions,":[73],"following":[74],"continuous":[76],"trajectories)":[77],"perform":[82],"in":[83,115,122],"Cartesian":[85],"space.":[86],"For":[87],"property,":[89],"necessary":[91],"sufficient":[93],"condition":[94],"given,":[96],"which":[97,136],"permits":[98],"verification":[99],"whole":[105],"leads":[109],"all":[111],"connected":[113],"subspaces":[114],"it.":[116],"These":[117],"have":[119],"been":[120],"implemented":[121],"Robotics":[124],"C.A.D.":[125],"system":[126],"using":[127],"octree":[128],"representation":[129],"spaces.":[131],"Some":[132],"applications":[133],"are":[134],"presented,":[135],"show":[137],"this":[139],"work":[140],"primary":[143],"interest":[144],"for":[145],"preparing":[146],"off\u2010line":[147],"tasks,":[148],"contribution":[153],"problem":[156],"robotic":[158],"cell":[159],"layout":[160],"design.":[161]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}