{"id":"https://openalex.org/W2018790819","doi":"https://doi.org/10.1109/robio.2013.6739696","title":"Singularity analysis for a class of serial manipulators with non-spherical wrists","display_name":"Singularity analysis for a class of serial manipulators with non-spherical wrists","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2018790819","doi":"https://doi.org/10.1109/robio.2013.6739696","mag":"2018790819"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5035099404","display_name":"Siran Zhang","orcid":"https://orcid.org/0009-0007-4332-213X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Siran Zhang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School","Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035195155","display_name":"Wenfu Xu","orcid":"https://orcid.org/0000-0001-8218-6061"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenfu Xu","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School","Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5115592264","display_name":"Zhiying Wang","orcid":"https://orcid.org/0009-0001-7064-6419"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiying Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School","Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Shenzhen Grad. Sch., Sch. of Mech. Eng. & Autom., Harbin Inst. of Technol., Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5035099404"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.09941962,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"17","issue":null,"first_page":"1605","last_page":"1610"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9944000244140625,"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"}},{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9940000176429749,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.849395751953125},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7969903349876404},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.7373279333114624},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.7310319542884827},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4911193549633026},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4850432276725769},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.483146607875824},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44776612520217896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42576658725738525},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4238070845603943},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4188338816165924},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.3285343050956726},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.27046477794647217},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21298956871032715},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.181616872549057},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1721751093864441},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11479109525680542},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09121483564376831}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.849395751953125},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7969903349876404},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7373279333114624},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.7310319542884827},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4911193549633026},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4850432276725769},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.483146607875824},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44776612520217896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42576658725738525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4238070845603943},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4188338816165924},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.3285343050956726},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.27046477794647217},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21298956871032715},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.181616872549057},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1721751093864441},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11479109525680542},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09121483564376831},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1985623390","https://openalex.org/W2032575496","https://openalex.org/W2063984443","https://openalex.org/W2075120537","https://openalex.org/W2077446814","https://openalex.org/W2077735765","https://openalex.org/W2183626589","https://openalex.org/W2800496914","https://openalex.org/W3110774697","https://openalex.org/W6666140741","https://openalex.org/W6686392146"],"related_works":["https://openalex.org/W2353085251","https://openalex.org/W2009316821","https://openalex.org/W4240233348","https://openalex.org/W2379794025","https://openalex.org/W2077539837","https://openalex.org/W2166615337","https://openalex.org/W2358210647","https://openalex.org/W2144801384","https://openalex.org/W2158743457","https://openalex.org/W2973099332"],"abstract_inverted_index":{"For":[0],"a":[1,28,39,58,68,106,124],"serial":[2,42,53],"manipulator":[3],"with":[4,44],"non-spherical":[5,45],"wrist,":[6],"the":[7,10,19,35,48,72,77,86,90,98,116,129,143,148],"kinematics":[8,66,73,87],"of":[9,41,51,79,112,147],"wrist's":[11],"position":[12],"and":[13,18,57,103,134,145],"orientation":[14],"is":[15,22,30,61,82,121],"not":[16],"decoupled":[17],"singularity":[20,36,99],"analysis":[21],"very":[23],"difficult.":[24],"In":[25],"this":[26],"paper,":[27],"method":[29],"proposed":[31,149],"to":[32,63,84],"analytically":[33],"identify":[34],"configurations":[37],"for":[38,115,128],"class":[40],"manipulators":[43,54,136],"wrist.":[46],"Firstly,":[47],"configuration":[49],"characteristics":[50],"typical":[52],"are":[55,95,101,137],"analyzed":[56],"general":[59],"model":[60],"constructed":[62],"describe":[64],"their":[65],"in":[67,105],"united":[69],"manner.":[70],"Secondly,":[71],"transformation":[74,93],"without":[75],"changing":[76],"independence":[78],"joint":[80],"motion":[81],"presented":[83],"simplify":[85],"equations.":[88],"Then":[89],"main":[91],"elementary":[92,113],"matrices":[94],"established.":[96],"Thirdly,":[97],"conditions":[100],"isolated":[102],"collected":[104],"lower":[107],"sub-matrix":[108],"by":[109],"several":[110],"times":[111],"transformations":[114],"modified":[117],"Jacobian":[118],"matrix,":[119],"which":[120],"partitioned":[122],"into":[123],"block-triangle":[125],"matrix.":[126],"Finally,":[127],"practical":[130],"applications,":[131],"some":[132],"6-DOF":[133],"7-DOF":[135],"analyzed.":[138],"The":[139],"results":[140],"obtained":[141],"show":[142],"generality":[144],"feasibility":[146],"method.":[150]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
