{"id":"https://openalex.org/W2157396769","doi":"https://doi.org/10.1109/robot.1998.680733","title":"Removing the singularities of serial manipulators by transforming the workspace","display_name":"Removing the singularities of serial manipulators by transforming the workspace","publication_year":2002,"publication_date":"2002-11-27","ids":{"openalex":"https://openalex.org/W2157396769","doi":"https://doi.org/10.1109/robot.1998.680733","mag":"2157396769"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1998.680733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1998.680733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","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/A5110117626","display_name":"John E. Lloyd","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"J.E. Lloyd","raw_affiliation_strings":["Computer Science Dept, University of British Columbia, Vancouver, BC, Canada"],"affiliations":[{"raw_affiliation_string":"Computer Science Dept, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5110117626"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":1.2765,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82507942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"4","issue":null,"first_page":"2935","last_page":"2940"},"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":0.9987999796867371,"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":0.9979000091552734,"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/workspace","display_name":"Workspace","score":0.951185941696167},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7797662019729614},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.7681667804718018},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7568159699440002},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.6969448328018188},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6341818571090698},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5703827142715454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5429461002349854},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5383009314537048},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.524795413017273},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5005490779876709},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4635644853115082},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.3961721956729889},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35742253065109253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3186953067779541},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.31531065702438354},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.23992455005645752},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23333904147148132},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17670240998268127},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16990739107131958}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.951185941696167},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7797662019729614},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7681667804718018},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7568159699440002},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.6969448328018188},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6341818571090698},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5703827142715454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5429461002349854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5383009314537048},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.524795413017273},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5005490779876709},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4635644853115082},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.3961721956729889},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35742253065109253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3186953067779541},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.31531065702438354},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.23992455005645752},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23333904147148132},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17670240998268127},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16990739107131958}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.1998.680733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1998.680733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.186.4683","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.186.4683","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.ubc.ca/nest/lci/papers/docs1998/lloyd-icra98trans.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1966132983","https://openalex.org/W1977866635","https://openalex.org/W2004795460","https://openalex.org/W2013527482","https://openalex.org/W2045410079","https://openalex.org/W2110279974","https://openalex.org/W2117197232","https://openalex.org/W2126358534","https://openalex.org/W2126907189","https://openalex.org/W2140446061","https://openalex.org/W2145539286","https://openalex.org/W2156441448","https://openalex.org/W2159139838","https://openalex.org/W2171482158","https://openalex.org/W2346883410","https://openalex.org/W4243737224","https://openalex.org/W4300826233","https://openalex.org/W6704968407"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2090392331","https://openalex.org/W2026756596","https://openalex.org/W2009316821","https://openalex.org/W2726339783","https://openalex.org/W2635001913","https://openalex.org/W1917399524","https://openalex.org/W2948497870"],"abstract_inverted_index":{"A":[0],"new":[1],"method":[2,116],"of":[3,8,125],"handling":[4],"the":[5,19,46,72,76,79,105,111,115],"kinematic":[6],"singularities":[7,85],"serial":[9],"robotic":[10],"manipulators":[11],"is":[12,16,69,95,108],"proposed.":[13],"The":[14],"idea":[15],"to":[17,38,75,98],"transform":[18],"manipulator's":[20],"workspace":[21,26],"W":[22,60],"into":[23],"a":[24,63,67],"desingularized":[25],"W*.":[27],"Robotic":[28],"motions":[29],"can":[30],"then":[31],"be":[32,53,89],"planned":[33],"anywhere":[34],"in":[35,71,91,110],"W*,":[36],"subject":[37],"limits":[39],"on":[40],"spatial":[41],"velocity":[42],"and":[43,45,50,55,86],"acceleration,":[44],"resulting":[47],"joint":[48],"velocities":[49],"accelerations":[51],"will":[52],"well-behaved":[54],"bounded.":[56],"W*":[57],"differs":[58],"from":[59],"only":[61],"near":[62],"singularity":[64,126],"surface,":[65],"where":[66],"deformation":[68],"applied":[70],"direction":[73],"normal":[74],"surface.":[77],"While":[78],"technique":[80],"does":[81],"not":[82,88],"handle":[83],"self-motion":[84],"may":[87],"practical":[90],"some":[92],"cases,":[93],"it":[94],"very":[96],"easy":[97],"implement":[99],"for":[100],"certain":[101],"manipulators,":[102],"such":[103],"as":[104],"PUMA,":[106],"which":[107],"studied":[109],"paper.":[112],"When":[113],"applicable,":[114],"offers":[117],"various":[118],"advantages":[119],"when":[120],"compared":[121],"with":[122],"other":[123],"methods":[124],"control.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
