{"id":"https://openalex.org/W2752362977","doi":"https://doi.org/10.1109/aim.2017.8014004","title":"On-board real-time singularity detection for large-scale 7-DOF space manipulator","display_name":"On-board real-time singularity detection for large-scale 7-DOF space manipulator","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2752362977","doi":"https://doi.org/10.1109/aim.2017.8014004","mag":"2752362977"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5104133712","display_name":"Jiyang Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ji-yang Yu","raw_affiliation_strings":["Ji-yang Yu is with the China Academy of Space Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Ji-yang Yu is with the China Academy of Space Technology, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100376228","display_name":"Xiaodong Zhang","orcid":"https://orcid.org/0000-0003-0865-6453"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao-dong Zhang","raw_affiliation_strings":["Ji-yang Yu is with the China Academy of Space Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Ji-yang Yu is with the China Academy of Space Technology, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045624998","display_name":"Dan Dan Huang","orcid":"https://orcid.org/0000-0003-2878-7469"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Huang","raw_affiliation_strings":["Ji-yang Yu is with the China Academy of Space Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Ji-yang Yu is with the China Academy of Space Technology, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726208","display_name":"Xin Li","orcid":"https://orcid.org/0000-0002-1255-9173"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Li","raw_affiliation_strings":["Ji-yang Yu is with the China Academy of Space Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Ji-yang Yu is with the China Academy of Space Technology, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103146487","display_name":"Luyuan Wang","orcid":"https://orcid.org/0000-0002-6445-7742"},"institutions":[{"id":"https://openalex.org/I194716290","display_name":"China Academy of Space Technology","ror":"https://ror.org/025397a59","country_code":"CN","type":"government","lineage":["https://openalex.org/I194716290","https://openalex.org/I2802615301"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu-yuan Wang","raw_affiliation_strings":["Ji-yang Yu is with the China Academy of Space Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Ji-yang Yu is with the China Academy of Space Technology, Beijing, China","institution_ids":["https://openalex.org/I194716290"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5104133712"],"corresponding_institution_ids":["https://openalex.org/I194716290"],"apc_list":null,"apc_paid":null,"fwci":0.5444,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.78439887,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"25","issue":null,"first_page":"113","last_page":"117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9811000227928162,"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":0.9668999910354614,"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":0.8941981792449951},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6517508625984192},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6023759245872498},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5286510586738586},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.5273949503898621},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5006461143493652},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48157477378845215},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.463716983795166},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45548999309539795},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4426463842391968},{"id":"https://openalex.org/keywords/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.4112512469291687},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3164006471633911},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2694416344165802},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19040626287460327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1600293517112732},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1572260558605194},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.140663743019104},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13616794347763062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1302938461303711},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07340189814567566}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.8941981792449951},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6517508625984192},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6023759245872498},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5286510586738586},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.5273949503898621},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5006461143493652},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48157477378845215},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.463716983795166},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45548999309539795},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4426463842391968},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.4112512469291687},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3164006471633911},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2694416344165802},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19040626287460327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1600293517112732},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1572260558605194},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.140663743019104},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13616794347763062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1302938461303711},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07340189814567566},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W1484028842","https://openalex.org/W1749424093","https://openalex.org/W1994043978","https://openalex.org/W2323056203","https://openalex.org/W2512582236"],"related_works":["https://openalex.org/W2009316821","https://openalex.org/W2022764191","https://openalex.org/W2212331039","https://openalex.org/W2150988129","https://openalex.org/W2354209893","https://openalex.org/W2162859138","https://openalex.org/W2967863648","https://openalex.org/W2377937346","https://openalex.org/W2077909046","https://openalex.org/W1797940506"],"abstract_inverted_index":{"According":[0],"to":[1,33,91],"the":[2,17,25,35,41,51,58,76,93,105,115,124,127,131],"characteristic":[3],"of":[4,19,61,107,117,134],"large":[5],"space":[6,135],"manipulator,":[7],"an":[8],"on-board":[9,100],"real-time":[10,77,101],"singularity":[11,36,78,102],"detection":[12,79],"design":[13],"is":[14,31,46,55,64,69,81,89],"proposed.":[15],"On":[16],"basis":[18],"forward":[20,26],"and":[21,27,48,50,66,86,111,113],"inverse":[22,28,60],"kinematics":[23,44],"calculation,":[24],"power":[29,72],"method":[30],"applied":[32],"obtain":[34],"by":[37,71],"iterative":[38],"computation.":[39],"Firstly,":[40],"7-DOF":[42],"manipulator":[43],"model":[45],"described":[47],"analyzed,":[49],"main":[52],"computational":[53],"process":[54],"presented;":[56],"then,":[57],"pseudo":[59],"Jacob":[62],"matrix":[63],"obtained,":[65],"condition":[67],"number":[68],"deduced":[70],"method;":[73],"at":[74],"last,":[75],"module":[80],"designed":[82],"based":[83],"on":[84],"FPGA,":[85],"multi-processing":[87],"unit":[88],"used":[90],"accelerate":[92],"calculating":[94],"speed,":[95],"which":[96],"costs":[97],"milliseconds.":[98],"The":[99],"detection,":[103],"eliminates":[104],"delay":[106],"interaction":[108],"between":[109],"spacecraft":[110],"ground,":[112],"reduces":[114],"risk":[116],"damnification":[118],"in":[119],"movement":[120],"process.":[121],"Compared":[122],"with":[123],"previous":[125],"methods,":[126],"proposed":[128],"can":[129],"guarantee":[130],"autonomous":[132],"operation":[133],"manipulator.":[136]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}