{"id":"https://openalex.org/W2105242476","doi":"https://doi.org/10.1017/s0263574707003761","title":"Cuspidal and noncuspidal robot manipulators","display_name":"Cuspidal and noncuspidal robot manipulators","publication_year":2007,"publication_date":"2007-09-10","ids":{"openalex":"https://openalex.org/W2105242476","doi":"https://doi.org/10.1017/s0263574707003761","mag":"2105242476"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574707003761","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707003761","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1002.1773","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061249763","display_name":"Philippe Wenger","orcid":"https://orcid.org/0000-0002-6608-4484"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Philippe Wenger","raw_affiliation_strings":["Institut de Recherche en Communications et Cybern\u00e9tique de Nantes 1, rue de la No\u00eb, 44321 Nantes, France","Institut de Recherche en Communications et Cybern\u00e9tique de                        Nantes, 1, rue de la No\u00eb, 44321 Nantes, France,"],"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communications et Cybern\u00e9tique de Nantes 1, rue de la No\u00eb, 44321 Nantes, France","institution_ids":[]},{"raw_affiliation_string":"Institut de Recherche en Communications et Cybern\u00e9tique de                        Nantes, 1, rue de la No\u00eb, 44321 Nantes, France,","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5061249763"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8709,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.80946593,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"25","issue":"6","first_page":"677","last_page":"689"},"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":0.9904000163078308,"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":0.9782000184059143,"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/workspace","display_name":"Workspace","score":0.7125787734985352},{"id":"https://openalex.org/keywords/uniqueness","display_name":"Uniqueness","score":0.6866690516471863},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.6444670557975769},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6418050527572632},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6250092387199402},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6240543723106384},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5921320915222168},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.550540566444397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35767579078674316},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3463061451911926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2414829134941101},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.19141656160354614},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10022351145744324},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.03960248827934265}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7125787734985352},{"id":"https://openalex.org/C2777021972","wikidata":"https://www.wikidata.org/wiki/Q22976830","display_name":"Uniqueness","level":2,"score":0.6866690516471863},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.6444670557975769},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6418050527572632},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6250092387199402},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6240543723106384},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5921320915222168},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.550540566444397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35767579078674316},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3463061451911926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2414829134941101},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.19141656160354614},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10022351145744324},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.03960248827934265},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574707003761","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707003761","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:arXiv.org:1002.1773","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1002.1773","pdf_url":"https://arxiv.org/pdf/1002.1773","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1002.1773","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1002.1773","pdf_url":"https://arxiv.org/pdf/1002.1773","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313934","display_name":"Institut national de recherche en informatique et en automatique (INRIA)","ror":"https://ror.org/02kvxyf05"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2105242476.pdf","grobid_xml":"https://content.openalex.org/works/W2105242476.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W188656552","https://openalex.org/W212247362","https://openalex.org/W225147201","https://openalex.org/W271499681","https://openalex.org/W1533051998","https://openalex.org/W1558446093","https://openalex.org/W1623711946","https://openalex.org/W1851325392","https://openalex.org/W1864114052","https://openalex.org/W1970114828","https://openalex.org/W1977906522","https://openalex.org/W1978593222","https://openalex.org/W1983103208","https://openalex.org/W1985674715","https://openalex.org/W1995255705","https://openalex.org/W1997155614","https://openalex.org/W2001979703","https://openalex.org/W2012079420","https://openalex.org/W2012329384","https://openalex.org/W2020689210","https://openalex.org/W2022319797","https://openalex.org/W2023005132","https://openalex.org/W2030589813","https://openalex.org/W2031583594","https://openalex.org/W2039299447","https://openalex.org/W2039330740","https://openalex.org/W2053482006","https://openalex.org/W2059772355","https://openalex.org/W2074126943","https://openalex.org/W2085327459","https://openalex.org/W2086195897","https://openalex.org/W2105658494","https://openalex.org/W2118809396","https://openalex.org/W2123253447","https://openalex.org/W2124920188","https://openalex.org/W2125062984","https://openalex.org/W2128792451","https://openalex.org/W2157940371","https://openalex.org/W2160763323","https://openalex.org/W2161252059","https://openalex.org/W2166564584","https://openalex.org/W2172299420","https://openalex.org/W2480872406","https://openalex.org/W2789788632","https://openalex.org/W3004879478","https://openalex.org/W3114435022","https://openalex.org/W4252184921","https://openalex.org/W4298374003","https://openalex.org/W6649314074","https://openalex.org/W6656501073"],"related_works":["https://openalex.org/W2090392331","https://openalex.org/W3122438115","https://openalex.org/W2394251694","https://openalex.org/W2107847614","https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4392894440","https://openalex.org/W4366609476","https://openalex.org/W2078127841","https://openalex.org/W2919815400"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"article":[2],"synthezises":[3],"the":[4,9,28,32,38],"most":[5],"important":[6],"results":[7],"on":[8],"kinematics":[10],"of":[11,34,86,95],"cuspidal":[12,67,80,96,107],"manipulators":[13,16,89,100,111],"i.e.":[14],"nonredundant":[15],"that":[17],"can":[18],"change":[19],"posture":[20],"without":[21],"meeting":[22],"a":[23,48,56,63],"singularity.":[24],"The":[25,83],"characteristic":[26],"surfaces,":[27],"uniqueness":[29],"domains":[30],"and":[31,55,59,92,97,108],"regions":[33],"feasible":[35],"paths":[36],"in":[37],"workspace":[39],"are":[40,53,101,112],"defined.":[41],"Then,":[42],"several":[43],"sufficient":[44,60],"geometric":[45],"conditions":[46],"for":[47,62,74],"manipulator":[49,64,77],"to":[50,65,78],"be":[51,66,79],"noncuspidal":[52,98,109],"enumerated":[54],"general":[57],"necessary":[58],"condition":[61,73],"is":[68,81,90],"provided.":[69],"An":[70],"explicit":[71],"DH-parameter-based":[72],"an":[75],"orthogonal":[76,88,99],"derived.":[82],"full":[84],"classification":[85],"3R":[87],"provided":[91],"all":[93],"types":[94],"enumerated.":[102],"Finally,":[103],"some":[104],"facts":[105],"about":[106],"6R":[110],"reported.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":6},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
