{"id":"https://openalex.org/W2147626424","doi":"https://doi.org/10.1109/robot.2004.1302479","title":"A general singularity avoidance framework for robot manipulators: task reconstruction method","display_name":"A general singularity avoidance framework for robot manipulators: task reconstruction method","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2147626424","doi":"https://doi.org/10.1109/robot.2004.1302479","mag":"2147626424"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5100411988","display_name":"Jinhyun Kim","orcid":"https://orcid.org/0000-0003-1313-6938"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinhyun Kim","raw_affiliation_strings":["Robotics & Bio-Mechatronics Lab, Pohang University of Science & Technology(POSTECH), Pohang, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Bio-Mechatronics Lab, Pohang University of Science & Technology(POSTECH), Pohang, Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060365559","display_name":"Giacomo Marani","orcid":null},"institutions":[{"id":"https://openalex.org/I1331384533","display_name":"University of Hawaii System","ror":"https://ror.org/03tzaeb71","country_code":"US","type":"education","lineage":["https://openalex.org/I1331384533"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G. Marani","raw_affiliation_strings":["Autonomous Systems Lab, University of Hawaii, Honolulu, HI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, University of Hawaii, Honolulu, HI, USA","institution_ids":["https://openalex.org/I1331384533"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wan Kyun Chung","raw_affiliation_strings":["Robotics & Bio-Mechatronics Lab, Pohang University of Science & Technology(POSTECH), Pohang, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics & Bio-Mechatronics Lab, Pohang University of Science & Technology(POSTECH), Pohang, Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111590230","display_name":"Junku Yuh","orcid":null},"institutions":[{"id":"https://openalex.org/I1311060795","display_name":"U.S. National Science Foundation","ror":"https://ror.org/021nxhr62","country_code":"US","type":"government","lineage":["https://openalex.org/I1311060795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junku Yuh","raw_affiliation_strings":["National Science Foundation(NSF), Arlington, VA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Science Foundation(NSF), Arlington, VA, USA","institution_ids":["https://openalex.org/I1311060795"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7552,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.87450764,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4809","last_page":"4814 Vol.5"},"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":0.9979000091552734,"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":0.9959999918937683,"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":0.9056602716445923},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7761316299438477},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7115352153778076},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6175811290740967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5961176753044128},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5482358336448669},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4675881564617157},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4192803204059601},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41670161485671997},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4073518216609955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40661507844924927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2773376703262329},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13811615109443665},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11177751421928406},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11167639493942261},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07074207067489624},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.04916626214981079}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.9056602716445923},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7761316299438477},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7115352153778076},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6175811290740967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5961176753044128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5482358336448669},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4675881564617157},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4192803204059601},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41670161485671997},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4073518216609955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40661507844924927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2773376703262329},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13811615109443665},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11177751421928406},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11167639493942261},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07074207067489624},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.04916626214981079},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2004.1302479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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":21,"referenced_works":["https://openalex.org/W1544857160","https://openalex.org/W1873533879","https://openalex.org/W1997650413","https://openalex.org/W2005636201","https://openalex.org/W2015003349","https://openalex.org/W2049410986","https://openalex.org/W2072763216","https://openalex.org/W2092188525","https://openalex.org/W2103150552","https://openalex.org/W2113260111","https://openalex.org/W2121431541","https://openalex.org/W2137097293","https://openalex.org/W2139208043","https://openalex.org/W2144629157","https://openalex.org/W2165187461","https://openalex.org/W2166365633","https://openalex.org/W2166982249","https://openalex.org/W2181743290","https://openalex.org/W2479430657","https://openalex.org/W6680259229","https://openalex.org/W6684662470"],"related_works":["https://openalex.org/W4287265842","https://openalex.org/W2726339783","https://openalex.org/W2546079289","https://openalex.org/W2095039895","https://openalex.org/W4302011306","https://openalex.org/W2022448890","https://openalex.org/W2022135995","https://openalex.org/W2148110192","https://openalex.org/W2963052782","https://openalex.org/W1668363177"],"abstract_inverted_index":{"There":[0],"are":[1],"several":[2],"kinds":[3],"of":[4,79,88,95],"singularity":[5,16,77],"in":[6,32,37,83],"controlling":[7],"robotic":[8],"manipulator.":[9],"Among":[10],"those,":[11],"the":[12,62,96],"kinematic":[13,50],"and":[14,35,51,66,93],"algorithmic":[15,52],"avoidance":[17,78],"have":[18],"been":[19],"investigated":[20],"intensively.":[21],"What":[22],"seems":[23],"to":[24,48],"be":[25,74],"lacking,":[26],"however,":[27],"is":[28,99],"excessive":[29],"performance":[30,38,94],"reduction":[31],"non-singular":[33],"region":[34],"difficulty":[36],"tuning.":[39],"In":[40],"this":[41],"paper,":[42],"we":[43],"develop":[44],"a":[45],"new":[46,59],"method":[47,60,87,98],"solve":[49],"singularities":[53],"using":[54],"task":[55,69,84],"reconstruction":[56],"approach.":[57],"This":[58],"drives":[61],"manipulator":[63],"singularity-free":[64],"path,":[65],"simultaneously":[67],"guarantees":[68],"performance.":[70],"And":[71],"it":[72],"can":[73],"easily":[75],"extended":[76],"multiple":[80],"tasks":[81],"case":[82],"priority":[85],"based":[86],"redundant":[89],"manipulators.":[90],"The":[91],"advantage":[92],"proposed":[97],"validated":[100],"by":[101],"simulation":[102],"works.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}