{"id":"https://openalex.org/W1968812687","doi":"https://doi.org/10.1017/s0263574707003785","title":"Singular curves in the joint space and cusp points of 3-<i>R<u>P</u>R</i> parallel manipulators","display_name":"Singular curves in the joint space and cusp points of 3-<i>R<u>P</u>R</i> parallel manipulators","publication_year":2007,"publication_date":"2007-09-10","ids":{"openalex":"https://openalex.org/W1968812687","doi":"https://doi.org/10.1017/s0263574707003785","mag":"1968812687"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574707003785","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707003785","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/0711.0574","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Mazen Zein","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210109587","display_name":"Laboratoire de Thermique et Energie de Nantes","ror":"https://ror.org/021fdyt09","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210109587","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mazen Zein","raw_affiliation_strings":["Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France"],"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France","institution_ids":["https://openalex.org/I4210109587","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Philippe Wenger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210109587","display_name":"Laboratoire de Thermique et Energie de Nantes","ror":"https://ror.org/021fdyt09","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210109587","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Wenger","raw_affiliation_strings":["Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France"],"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France","institution_ids":["https://openalex.org/I4210109587","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":null,"display_name":"Damien Chablat","orcid":null},"institutions":[{"id":"https://openalex.org/I4210109587","display_name":"Laboratoire de Thermique et Energie de Nantes","ror":"https://ror.org/021fdyt09","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210109587","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Damien Chablat","raw_affiliation_strings":["Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France"],"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, 44312 Nantes Cedex 03, France","institution_ids":["https://openalex.org/I4210109587","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210109587"],"apc_list":null,"apc_paid":null,"fwci":7.9107,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.96894041,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"25","issue":"6","first_page":"717","last_page":"724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.6438000202178955,"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":0.6438000202178955,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.06949999928474426,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.05979999899864197,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/cusp","display_name":"Cusp (singularity)","score":0.8525000214576721},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6866000294685364},{"id":"https://openalex.org/keywords/invertible-matrix","display_name":"Invertible matrix","score":0.6668999791145325},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6603999733924866},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6541000008583069},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.6021999716758728},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.43709999322891235},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.3472999930381775}],"concepts":[{"id":"https://openalex.org/C2778400075","wikidata":"https://www.wikidata.org/wiki/Q655275","display_name":"Cusp (singularity)","level":2,"score":0.8525000214576721},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6866000294685364},{"id":"https://openalex.org/C96442724","wikidata":"https://www.wikidata.org/wiki/Q242188","display_name":"Invertible matrix","level":2,"score":0.6668999791145325},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6603999733924866},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6541000008583069},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.6021999716758728},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5741999745368958},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.43709999322891235},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.4332999885082245},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.3472999930381775},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3264000117778778},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.31619998812675476},{"id":"https://openalex.org/C120568717","wikidata":"https://www.wikidata.org/wiki/Q7439094","display_name":"Screw axis","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C88740403","wikidata":"https://www.wikidata.org/wiki/Q53875","display_name":"Parallel","level":2,"score":0.29490000009536743},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.2883000075817108},{"id":"https://openalex.org/C200917960","wikidata":"https://www.wikidata.org/wiki/Q3847057","display_name":"Singular point of a curve","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C87195055","wikidata":"https://www.wikidata.org/wiki/Q222032","display_name":"Two-dimensional space","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.257099986076355}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574707003785","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707003785","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:0711.0574","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0711.0574","pdf_url":"https://arxiv.org/pdf/0711.0574","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-00184991v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00184991","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica, 2007, 25 (6), pp.717-724. &#x27E8;10.1017/S0263574707003785&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:0711.0574","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0711.0574","pdf_url":"https://arxiv.org/pdf/0711.0574","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W212247362","https://openalex.org/W1985674715","https://openalex.org/W1992810839","https://openalex.org/W1995146364","https://openalex.org/W1995761685","https://openalex.org/W2009554981","https://openalex.org/W2071108842","https://openalex.org/W2085356748","https://openalex.org/W2098123003","https://openalex.org/W2118647636","https://openalex.org/W2118821011","https://openalex.org/W2123253447","https://openalex.org/W2146475250","https://openalex.org/W2166564584","https://openalex.org/W4240051800","https://openalex.org/W4256526535","https://openalex.org/W6763903688"],"related_works":[],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"investigates":[3],"the":[4,8,41,96],"singular":[5,73],"curves":[6,74],"in":[7,40,95],"joint":[9,71,97],"space":[10,72,98],"of":[11,14,44,54,59,75,99],"a":[12,51,67],"family":[13],"planar":[15,80],"parallel":[16,45,81],"manipulators.":[17,82,102],"It":[18],"focuses":[19],"on":[20,31],"special":[21],"points,":[22,27],"referred":[23],"to":[24,69],"as":[25],"cusp":[26,93],"which":[28],"may":[29],"appear":[30],"these":[32,100],"curves.":[33],"Cusp":[34],"points":[35,94],"play":[36],"an":[37,86],"important":[38],"role":[39],"kinematic":[42],"behavior":[43],"manipulators":[46],"since":[47],"they":[48],"make":[49],"possible":[50],"nonsingular":[52],"change":[53],"assembly":[55],"mode.":[56],"The":[57],"purpose":[58],"this":[60],"study":[61],"is":[62],"twofold.":[63],"First,":[64],"it":[65,84],"exposes":[66],"method":[68],"compute":[70],"3-":[76],"R":[77,79],"P":[78],"Second,":[83],"presents":[85],"algorithm":[87],"for":[88],"detecting":[89],"and":[90],"computing":[91],"all":[92],"same":[101]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":6}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2016-06-24T00:00:00"}
