{"id":"https://openalex.org/W2013420007","doi":"https://doi.org/10.1017/s026357470800492x","title":"An on-line task modification method for singularity avoidance of robot manipulators","display_name":"An on-line task modification method for singularity avoidance of robot manipulators","publication_year":2008,"publication_date":"2008-09-10","ids":{"openalex":"https://openalex.org/W2013420007","doi":"https://doi.org/10.1017/s026357470800492x","mag":"2013420007"},"language":"en","primary_location":{"id":"doi:10.1017/s026357470800492x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470800492x","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/A5110140983","display_name":"Changwu Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Changwu Qiu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P. R. China","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, P.R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Cao","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, P. R. China","State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, P.R. China#TAB#"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, P.R. China#TAB#","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011585878","display_name":"Shouhong Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shouhong Miao","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P. R. China","School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, P.R. China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, P.R. China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5110140983"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.645,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.85921037,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"27","issue":"4","first_page":"539","last_page":"546"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"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":0.994700014591217,"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/singularity","display_name":"Singularity","score":0.8707054257392883},{"id":"https://openalex.org/keywords/monotone-polygon","display_name":"Monotone polygon","score":0.56122887134552},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5505233407020569},{"id":"https://openalex.org/keywords/singular-point-of-a-curve","display_name":"Singular point of a curve","score":0.5489025712013245},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.4913005232810974},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4728710353374481},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4723806381225586},{"id":"https://openalex.org/keywords/singular-value","display_name":"Singular value","score":0.4330008625984192},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42472490668296814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3842720091342926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2791079878807068},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2121116816997528},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19718044996261597},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13758859038352966},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11158615350723267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08395436406135559}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.8707054257392883},{"id":"https://openalex.org/C2834757","wikidata":"https://www.wikidata.org/wiki/Q4925424","display_name":"Monotone polygon","level":2,"score":0.56122887134552},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5505233407020569},{"id":"https://openalex.org/C200917960","wikidata":"https://www.wikidata.org/wiki/Q3847057","display_name":"Singular point of a curve","level":2,"score":0.5489025712013245},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.4913005232810974},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4728710353374481},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4723806381225586},{"id":"https://openalex.org/C109282560","wikidata":"https://www.wikidata.org/wiki/Q4166054","display_name":"Singular value","level":3,"score":0.4330008625984192},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42472490668296814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3842720091342926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2791079878807068},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2121116816997528},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19718044996261597},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13758859038352966},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11158615350723267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08395436406135559},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357470800492x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470800492x","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":[{"score":0.6499999761581421,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1566405224","https://openalex.org/W1889081428","https://openalex.org/W1989245954","https://openalex.org/W2007493789","https://openalex.org/W2015003349","https://openalex.org/W2033488780","https://openalex.org/W2042803738","https://openalex.org/W2045410079","https://openalex.org/W2046162245","https://openalex.org/W2057831640","https://openalex.org/W2058544403","https://openalex.org/W2058666964","https://openalex.org/W2070875401","https://openalex.org/W2094532896","https://openalex.org/W2095907915","https://openalex.org/W2108928610","https://openalex.org/W2113260111","https://openalex.org/W2119297270","https://openalex.org/W2124043501","https://openalex.org/W2132796722","https://openalex.org/W2145886382","https://openalex.org/W2162221563","https://openalex.org/W2165187461","https://openalex.org/W2166365633","https://openalex.org/W2167803496","https://openalex.org/W2170358923","https://openalex.org/W2600643276","https://openalex.org/W4285719527","https://openalex.org/W4365799927","https://openalex.org/W4376545026"],"related_works":["https://openalex.org/W2946416050","https://openalex.org/W2053020039","https://openalex.org/W2719918066","https://openalex.org/W2378485171","https://openalex.org/W3129244444","https://openalex.org/W4213308522","https://openalex.org/W2910890793","https://openalex.org/W293555363","https://openalex.org/W2065244705","https://openalex.org/W2331417723"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"this":[2],"paper,":[3],"we":[4],"present":[5],"an":[6],"on-line":[7,122],"task":[8,34,48],"modification":[9],"method":[10,26,83],"(OTMM)":[11],"to":[12,41,77,102],"realize":[13],"singularity":[14,88,106,123],"avoidance":[15,124],"for":[16,94,109,121],"nonredundant":[17,95],"and":[18,36,67,99],"redundant":[19,97,110],"manipulators":[20],"at":[21],"the":[22,33,37,42,47,56,59,63,78,87,100,105,116,119],"velocity":[23,35],"level.":[24],"The":[25,50,82,112],"introduces":[27],"a":[28,68],"correction":[29],"vector,":[30],"constructed":[31],"from":[32],"singular":[38,44,65,80],"vector":[39],"corresponding":[40],"minimum":[43,64,79],"value,":[45],"into":[46],"velocity.":[49],"performance":[51],"is":[52,73,107],"simply":[53],"affected":[54],"by":[55,90],"choice":[57],"of":[58,62,118],"lower":[60],"limit":[61],"value":[66],"scalar":[69],"adjusting":[70],"function,":[71],"which":[72],"monotone":[74],"with":[75],"respect":[76],"value.":[81],"makes":[84],"unnecessary":[85],"avoiding":[86],"point":[89],"off-line":[91],"path":[92],"planning":[93],"or":[96],"manipulators,":[98],"effort":[101],"check":[103],"whether":[104],"escapable":[108],"manipulators.":[111],"simulation":[113],"results":[114],"show":[115],"effectiveness":[117],"OTMM":[120],"in":[125],"manipulator":[126],"motion":[127],"control.":[128]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
