{"id":"https://openalex.org/W1481010376","doi":"https://doi.org/10.1007/3-540-45118-8_49","title":"Singularity Handling on Puma in Operational Space Formulation","display_name":"Singularity Handling on Puma in Operational Space Formulation","publication_year":2001,"publication_date":"2001-01-01","ids":{"openalex":"https://openalex.org/W1481010376","doi":"https://doi.org/10.1007/3-540-45118-8_49","mag":"1481010376"},"language":"en","primary_location":{"id":"doi:10.1007/3-540-45118-8_49","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-45118-8_49","pdf_url":null,"source":{"id":"https://openalex.org/S49978999","display_name":"Lecture notes in control and information sciences","issn_l":"0170-8643","issn":["0170-8643","1610-7411"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Control and Information Sciences","raw_type":"book-chapter"},"type":"book-chapter","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/A5004224258","display_name":"Denny Oetomo","orcid":"https://orcid.org/0000-0002-2680-6489"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Denny Oetomo","raw_affiliation_strings":["National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo Ang","raw_affiliation_strings":["National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111979185","display_name":"Ser Yong Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ser Yong Lim","raw_affiliation_strings":["Gintic Institute of Manufacturing Technology, Singapore"],"affiliations":[{"raw_affiliation_string":"Gintic Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5004224258"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":2.2977,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.90348837,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"491","last_page":"500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9945999979972839,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8771839141845703},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.7994275093078613},{"id":"https://openalex.org/keywords/degenerate-energy-levels","display_name":"Degenerate energy levels","score":0.5585026741027832},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5160490870475769},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4999699592590332},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49661070108413696},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.4897494316101074},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41750872135162354},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4166158437728882},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3137313723564148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.28485918045043945},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.2044382095336914},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16700506210327148},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13290730118751526},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1254900097846985},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1129748523235321}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8771839141845703},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7994275093078613},{"id":"https://openalex.org/C72319582","wikidata":"https://www.wikidata.org/wiki/Q584304","display_name":"Degenerate energy levels","level":2,"score":0.5585026741027832},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5160490870475769},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4999699592590332},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49661070108413696},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.4897494316101074},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41750872135162354},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4166158437728882},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3137313723564148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.28485918045043945},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2044382095336914},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16700506210327148},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13290730118751526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1254900097846985},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1129748523235321},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/3-540-45118-8_49","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-45118-8_49","pdf_url":null,"source":{"id":"https://openalex.org/S49978999","display_name":"Lecture notes in control and information sciences","issn_l":"0170-8643","issn":["0170-8643","1610-7411"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Control and Information Sciences","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.108.4411","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.108.4411","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://guppy.mpe.nus.edu.sg/~mpeangh/robotics/publications/iser00.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.523.879","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.523.879","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/events/events/iser00/papers/oetomo.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.543.6434","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.543.6434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://guppy.mpe.nus.edu.sg/~mpeangh/publications/iser00-final-paper.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1555601014","https://openalex.org/W1864463090","https://openalex.org/W1997650413","https://openalex.org/W2062691475","https://openalex.org/W2112474089","https://openalex.org/W2119297270","https://openalex.org/W2128135221","https://openalex.org/W2132796722","https://openalex.org/W2134533546","https://openalex.org/W2146764783","https://openalex.org/W2170358923","https://openalex.org/W2923204795"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2379794025","https://openalex.org/W2166615337","https://openalex.org/W2358210647","https://openalex.org/W2144801384","https://openalex.org/W2158743457","https://openalex.org/W1985623390","https://openalex.org/W2355238070"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}