{"id":"https://openalex.org/W3120835743","doi":"https://doi.org/10.1007/978-3-030-66645-3_32","title":"Determination of Singularity Occurrence and Characteristic Analysis of Dual 6-DOF Manipulator Using Manipulability and Manipulability Ellipsoid","display_name":"Determination of Singularity Occurrence and Characteristic Analysis of Dual 6-DOF Manipulator Using Manipulability and Manipulability Ellipsoid","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3120835743","doi":"https://doi.org/10.1007/978-3-030-66645-3_32","mag":"3120835743"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-66645-3_32","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-66645-3_32","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"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 Computer Science","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/A5101661923","display_name":"Jong-Hak Lee","orcid":"https://orcid.org/0000-0002-7412-7309"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Hak Lee","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea","Department of Electronic Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Department of Electronic Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012691091","display_name":"Jinuk Bang","orcid":null},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jin-Uk Bang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea","institution_ids":["https://openalex.org/I4921948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063531535","display_name":"Jang-Myung Lee","orcid":"https://orcid.org/0000-0003-4290-8087"},"institutions":[{"id":"https://openalex.org/I4921948","display_name":"Pusan National University","ror":"https://ror.org/01an57a31","country_code":"KR","type":"education","lineage":["https://openalex.org/I4921948"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jang-Myung Lee","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea","Department of Electronic Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea","institution_ids":["https://openalex.org/I4921948"]},{"raw_affiliation_string":"Department of Electronic Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan, Republic of Korea","institution_ids":["https://openalex.org/I4921948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063531535"],"corresponding_institution_ids":["https://openalex.org/I4921948"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":0.8244,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.76466656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"374","last_page":"386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.996999979019165,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/ellipsoid","display_name":"Ellipsoid","score":0.8697417974472046},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.7416133284568787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6482682228088379},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6324971914291382},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5386216044425964},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39240002632141113},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24858173727989197},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.24211850762367249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22988367080688477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2029419243335724},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.12682455778121948},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09500548243522644},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09041252732276917},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.07679826021194458}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.8697417974472046},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7416133284568787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6482682228088379},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6324971914291382},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5386216044425964},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39240002632141113},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24858173727989197},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.24211850762367249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22988367080688477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2029419243335724},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.12682455778121948},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09500548243522644},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09041252732276917},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.07679826021194458},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-030-66645-3_32","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-66645-3_32","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"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 Computer Science","raw_type":"book-chapter"}],"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/W2054478282","https://openalex.org/W2113260111","https://openalex.org/W2156847962","https://openalex.org/W2293268320","https://openalex.org/W2294389641","https://openalex.org/W2737895369","https://openalex.org/W2744384148","https://openalex.org/W2800663337","https://openalex.org/W2885683892","https://openalex.org/W2901278625","https://openalex.org/W2964566652","https://openalex.org/W3180482864"],"related_works":["https://openalex.org/W2005485125","https://openalex.org/W2390718407","https://openalex.org/W1986006778","https://openalex.org/W2034124193","https://openalex.org/W2085363807","https://openalex.org/W2379017606","https://openalex.org/W2171970890","https://openalex.org/W2356423988","https://openalex.org/W2156319555","https://openalex.org/W2127551994"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
