{"id":"https://openalex.org/W2053778292","doi":"https://doi.org/10.1017/s0263574708004591","title":"Force-closure analysis of 6-DOF cable manipulators with seven or more cables","display_name":"Force-closure analysis of 6-DOF cable manipulators with seven or more cables","publication_year":2008,"publication_date":"2008-05-06","ids":{"openalex":"https://openalex.org/W2053778292","doi":"https://doi.org/10.1017/s0263574708004591","mag":"2053778292"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574708004591","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708004591","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/A5062449301","display_name":"Xiumin Diao","orcid":"https://orcid.org/0000-0001-6499-5308"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiumin Diao","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New Mexico State University, Las Cruces, NM 88003, USA","Department of Mechanical and Aerospace Engineering, New Mexico State University, Las\u00a0Cruces, NM 88003, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New Mexico State University, Las Cruces, NM 88003, USA","institution_ids":["https://openalex.org/I10052268"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New Mexico State University, Las\u00a0Cruces, NM 88003, USA","institution_ids":["https://openalex.org/I10052268"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048659136","display_name":"Ou Ma","orcid":"https://orcid.org/0000-0003-2727-1997"},"institutions":[{"id":"https://openalex.org/I10052268","display_name":"New Mexico State University","ror":"https://ror.org/00hpz7z43","country_code":"US","type":"education","lineage":["https://openalex.org/I10052268"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ou Ma","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New Mexico State University, Las Cruces, NM 88003, USA","Department of Mechanical and Aerospace Engineering, New Mexico State University, Las\u00a0Cruces, NM 88003, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New Mexico State University, Las Cruces, NM 88003, USA","institution_ids":["https://openalex.org/I10052268"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New Mexico State University, Las\u00a0Cruces, NM 88003, USA","institution_ids":["https://openalex.org/I10052268"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048659136"],"corresponding_institution_ids":["https://openalex.org/I10052268"],"apc_list":null,"apc_paid":null,"fwci":5.795,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.95520055,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"27","issue":"2","first_page":"209","last_page":"215"},"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":0.9994000196456909,"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":0.9959999918937683,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8600863218307495},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.8302744626998901},{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.7522463798522949},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6058391332626343},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5804941654205322},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5422720313072205},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4750005006790161},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4707028865814209},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4641851782798767},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.45952922105789185},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4506726861000061},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4388817250728607},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3382510542869568},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2932649254798889},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27968573570251465},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2765424847602844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14064845442771912},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12707972526550293},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11719876527786255},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09884604811668396}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8600863218307495},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8302744626998901},{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.7522463798522949},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6058391332626343},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5804941654205322},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5422720313072205},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4750005006790161},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4707028865814209},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4641851782798767},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.45952922105789185},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4506726861000061},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4388817250728607},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3382510542869568},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2932649254798889},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27968573570251465},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2765424847602844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14064845442771912},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12707972526550293},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11719876527786255},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09884604811668396},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574708004591","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708004591","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W267969170","https://openalex.org/W1564897360","https://openalex.org/W1964665489","https://openalex.org/W1985121850","https://openalex.org/W1993297197","https://openalex.org/W2007517598","https://openalex.org/W2022975181","https://openalex.org/W2027837797","https://openalex.org/W2045191971","https://openalex.org/W2053812618","https://openalex.org/W2053845122","https://openalex.org/W2062356793","https://openalex.org/W2066309255","https://openalex.org/W2074126943","https://openalex.org/W2078168189","https://openalex.org/W2098483479","https://openalex.org/W2107118530","https://openalex.org/W2129879687","https://openalex.org/W2138950221","https://openalex.org/W2140173255","https://openalex.org/W2144573888","https://openalex.org/W2153504150","https://openalex.org/W2290120986","https://openalex.org/W3217246742","https://openalex.org/W4249667877","https://openalex.org/W4250815736"],"related_works":["https://openalex.org/W2800191144","https://openalex.org/W3131970116","https://openalex.org/W3003166781","https://openalex.org/W4379117992","https://openalex.org/W2989272167","https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2560333153","https://openalex.org/W2366856298","https://openalex.org/W2166323405"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"cable":[2,30,43,79,101],"manipulator":[3,31,102],"controls":[4],"its":[5],"end-effector":[6],"by":[7],"a":[8,23,36,42,52,67,84,94,98,121,144],"number":[9],"of":[10,26,64,78,87,91,97,113,136,147],"cables.":[11,107],"If":[12],"the":[13,27,29,49,62,89,110,114,116,125,129,137,148],"cables":[14,156],"can":[15,44,118],"balance":[16],"any":[17],"external":[18],"and":[19,76,134],"inertia":[20],"wrenches":[21],"at":[22,38,51,66,93,124],"certain":[24],"pose":[25,54,69,96,126],"end-effector,":[28],"is":[32,70,157],"said":[33],"to":[34,60,128],"have":[35],"force-closure":[37,50,65,92,122],"this":[39],"pose.":[40],"Since":[41],"work":[45],"only":[46],"in":[47],"tension,":[48],"specific":[53,95],"may":[55],"not":[56],"exist.":[57],"Thus,":[58],"how":[59],"check":[61],"existence":[63,90],"given":[68],"an":[71],"important":[72],"issue":[73],"for":[74,150],"design":[75],"control":[77],"manipulators.":[80],"This":[81],"paper":[82],"describes":[83],"systematic":[85],"method":[86,117,139,149],"verifying":[88],"general":[99],"6-DOF":[100],"with":[103,152],"seven":[104,155],"or":[105],"more":[106,153],"By":[108],"examining":[109],"Jacobian":[111,130],"matrix":[112],"manipulator,":[115],"determine":[119],"whether":[120],"exists":[123],"corresponding":[127],"matrix.":[131],"The":[132],"necessity":[133],"sufficiency":[135],"proposed":[138],"are":[140],"mathematically":[141],"proven.":[142],"Moreover,":[143],"convex-analysis-based":[145],"simplification":[146],"manipulators":[151],"than":[154],"also":[158],"discussed.":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
