{"id":"https://openalex.org/W2128163766","doi":"https://doi.org/10.1017/s0263574701003472","title":"Analytic formulation of the 6-3 fully-parallel manipulator's singularity determination","display_name":"Analytic formulation of the 6-3 fully-parallel manipulator's singularity determination","publication_year":2001,"publication_date":"2001-09-01","ids":{"openalex":"https://openalex.org/W2128163766","doi":"https://doi.org/10.1017/s0263574701003472","mag":"2128163766"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574701003472","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574701003472","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5013092459","display_name":"Raffaele Di Gregorio","orcid":"https://orcid.org/0000-0003-3925-3016"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Raffaele Di Gregorio","raw_affiliation_strings":["Department of Engineering, University of Ferrara, Via Saragat, 1; 44100 FERRARA (Italy","Department of Engineering, University of Ferrara, Via Saragat, 1","44100 FERRARA (Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Ferrara, Via Saragat, 1; 44100 FERRARA (Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Department of Engineering, University of Ferrara, Via Saragat, 1","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"44100 FERRARA (Italy","institution_ids":["https://openalex.org/I201324441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5013092459"],"corresponding_institution_ids":["https://openalex.org/I201324441"],"apc_list":null,"apc_paid":null,"fwci":4.551,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.93935195,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"19","issue":"6","first_page":"663","last_page":"667"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9843999743461609,"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"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9750000238418579,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.9318563938140869},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7608351707458496},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.694694995880127},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5697804093360901},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.52580326795578},{"id":"https://openalex.org/keywords/locus","display_name":"Locus (genetics)","score":0.5007898807525635},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47916093468666077},{"id":"https://openalex.org/keywords/singular-solution","display_name":"Singular solution","score":0.43742355704307556},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3926372230052948},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3170420527458191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11475265026092529},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09435421228408813}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.9318563938140869},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7608351707458496},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.694694995880127},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5697804093360901},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.52580326795578},{"id":"https://openalex.org/C84597430","wikidata":"https://www.wikidata.org/wiki/Q106227","display_name":"Locus (genetics)","level":3,"score":0.5007898807525635},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47916093468666077},{"id":"https://openalex.org/C135909967","wikidata":"https://www.wikidata.org/wiki/Q4338245","display_name":"Singular solution","level":2,"score":0.43742355704307556},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3926372230052948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3170420527458191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11475265026092529},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09435421228408813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574701003472","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574701003472","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:iris.unife.it:11392/1200991","is_oa":false,"landing_page_url":"http://hdl.handle.net/11392/1200991","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1597009130","https://openalex.org/W1971405814","https://openalex.org/W1975862206","https://openalex.org/W1984999324","https://openalex.org/W1995146364","https://openalex.org/W2017170876","https://openalex.org/W2018163174","https://openalex.org/W2077129956","https://openalex.org/W2124860692","https://openalex.org/W2146475250","https://openalex.org/W3176072020"],"related_works":["https://openalex.org/W2009316821","https://openalex.org/W2726339783","https://openalex.org/W2095039895","https://openalex.org/W2022135995","https://openalex.org/W1668363177","https://openalex.org/W4302011306","https://openalex.org/W2022448890","https://openalex.org/W2963052782","https://openalex.org/W1966148554","https://openalex.org/W2148110192"],"abstract_inverted_index":{"When":[0],"a":[1,5,69,186],"parallel":[2],"manipulator":[3,63,76,104,166],"reaches":[4],"singular":[6,81],"configuration":[7],"(singularity),":[8],"the":[9,27,32,36,56,62,66,75,80,86,90,96,101,126,139,161,165,168,173,178,191,196,205,215],"end":[10],"effect":[11],"(platform)":[12],"pose":[13,170],"cannot":[14],"be":[15,24,42,109,116,136,151,183],"controlled":[16],"any":[17],"longer,":[18],"and":[19,141,167,209],"infinite":[20],"active":[21],"forces":[22],"must":[23,41],"applied":[25],"in":[26,122,204,214],"actuated":[28],"joints":[29],"to":[30,49,53,79,124,135,185,194],"balance":[31],"loads":[33],"exerted":[34],"on":[35,138],"platform.":[37],"Therefore,":[38],"these":[39],"singularities":[40],"avoided":[43],"during":[44],"motion.":[45],"The":[46,92,146],"first":[47],"step":[48],"avoid":[50],"them":[51],"is":[52,143,202],"locate":[54],"all":[55],"platform":[57,82,97,169,197,206],"poses":[58],"(singularity":[59,156],"locus)":[60],"making":[61,172],"singular.":[64,176],"Hence,":[65],"availability":[67],"of":[68,89,94,129,164,211],"singularity":[70,113,119,148,179],"locus":[71,157,180],"equation,":[72],"explicitly":[73,159],"relating":[74],"geometric":[77,162],"parameters":[78,163,171,193,208],"poses,":[83,98],"greatly":[84],"facilitates":[85],"design":[87],"process":[88],"manipulator.":[91],"problem":[93],"determining":[95],"that":[99,132],"make":[100],"6-3":[102,174],"fully-parallel":[103],"(6-3":[105],"FPM)":[106],"singular,":[107],"will":[108,115,150,182],"addressed.":[110],"A":[111],"simple":[112],"condition":[114,120,149],"written.":[117],"This":[118,199],"consists":[121],"equating":[123],"zero":[125],"mixed":[127],"product":[128],"three":[130],"vectors,":[131],"are":[133],"easy":[134],"identified":[137],"manipulator,":[140],"it":[142],"geometrically":[144],"interpretable.":[145],"presented":[147],"transformed":[152],"into":[153],"an":[154],"equation":[155,181,188,201],"equation)":[158],"containing":[160],"FPM":[175],"Eventually,":[177],"reduced":[184],"polynomial":[187,200],"by":[189],"using":[190],"Rodrigues":[192,216],"parameterize":[195],"orientation.":[198],"cubic":[203],"position":[207],"one":[210],"sixth":[212],"degree":[213],"parameters.":[217]},"counts_by_year":[{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
