{"id":"https://openalex.org/W2124492967","doi":"https://doi.org/10.1109/robot.2009.5152221","title":"New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots","display_name":"New interval-based approach to determine the guaranteed singularity-free workspace of parallel robots","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2124492967","doi":"https://doi.org/10.1109/robot.2009.5152221","mag":"2124492967"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5065191324","display_name":"Jens Kotlarski","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Kotlarski","raw_affiliation_strings":["Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universt\u00e4t Hannover, Hanover, Germany","Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universit\u00e4t Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universt\u00e4t Hannover, Hanover, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universit\u00e4t Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022737183","display_name":"Robin de Nijs","orcid":"https://orcid.org/0000-0002-3908-3013"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"R. de Nijs","raw_affiliation_strings":["Universidad Polit\u00e9cnica de Valencia, Spain","Universidad Politecnica de Valencia (Spain)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Valencia, Spain","institution_ids":["https://openalex.org/I60053951"]},{"raw_affiliation_string":"Universidad Politecnica de Valencia (Spain)#TAB#","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111592959","display_name":"H. Abdellatif","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Abdellatif","raw_affiliation_strings":["Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universt\u00e4t Hannover, Hanover, Germany","Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universit\u00e4t Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universt\u00e4t Hannover, Hanover, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universit\u00e4t Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006870064","display_name":"Bodo Heimann","orcid":null},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Heimann","raw_affiliation_strings":["Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universt\u00e4t Hannover, Hanover, Germany","Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universit\u00e4t Hannover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universt\u00e4t Hannover, Hanover, Germany","institution_ids":["https://openalex.org/I114112103"]},{"raw_affiliation_string":"Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universit\u00e4t Hannover, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0804,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92055637,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9090677499771118},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8959527015686035},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.8115119934082031},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7895501852035522},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6780067682266235},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.6531904339790344},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6407803297042847},{"id":"https://openalex.org/keywords/interval-arithmetic","display_name":"Interval arithmetic","score":0.5557788014411926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5267019867897034},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.4865099787712097},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.44603046774864197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4259943962097168},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41512203216552734},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39195606112480164},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3907035291194916},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.375882089138031},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36209380626678467},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3410831689834595},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.22569647431373596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1370094120502472},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.061985403299331665}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.9090677499771118},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8959527015686035},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.8115119934082031},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7895501852035522},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6780067682266235},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.6531904339790344},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6407803297042847},{"id":"https://openalex.org/C191252586","wikidata":"https://www.wikidata.org/wiki/Q1671453","display_name":"Interval arithmetic","level":3,"score":0.5557788014411926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267019867897034},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.4865099787712097},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.44603046774864197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4259943962097168},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41512203216552734},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39195606112480164},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3907035291194916},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.375882089138031},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36209380626678467},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3410831689834595},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.22569647431373596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1370094120502472},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.061985403299331665},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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":25,"referenced_works":["https://openalex.org/W40111655","https://openalex.org/W122846947","https://openalex.org/W174186927","https://openalex.org/W225147201","https://openalex.org/W1483874187","https://openalex.org/W1597009130","https://openalex.org/W1975324676","https://openalex.org/W2039728007","https://openalex.org/W2051501000","https://openalex.org/W2060429363","https://openalex.org/W2126611048","https://openalex.org/W2133661720","https://openalex.org/W2146475250","https://openalex.org/W2166263619","https://openalex.org/W2166615337","https://openalex.org/W2170316960","https://openalex.org/W2218209936","https://openalex.org/W2316162281","https://openalex.org/W2341668857","https://openalex.org/W2483775066","https://openalex.org/W3146520007","https://openalex.org/W4238279176","https://openalex.org/W4298255709","https://openalex.org/W6604948554","https://openalex.org/W6699226933"],"related_works":["https://openalex.org/W1679399962","https://openalex.org/W2353085251","https://openalex.org/W2362652060","https://openalex.org/W2066019639","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2090392331","https://openalex.org/W2379794025","https://openalex.org/W1901106430","https://openalex.org/W2132859693"],"abstract_inverted_index":{"In":[0],"the":[1,11,24,39,43,48,56,62,69,86,102,105,117],"present":[2],"paper":[3],"we":[4,37],"introduce":[5],"an":[6,52],"improved":[7],"method":[8],"to":[9,30,93,111],"obtain":[10],"guaranteed":[12,91],"singularity-free":[13,57],"workspace":[14,58],"of":[15,26,41,47,55,104],"planar":[16],"parallel":[17],"kinematic":[18],"machines.":[19],"A":[20],"geometric":[21],"condition":[22,88],"for":[23],"existence":[25],"singularities":[27],"is":[28,59,65],"extended":[29],"be":[31,78,90],"used":[32],"in":[33,109],"interval":[34,45],"analysis.":[35],"Therefore,":[36],"eliminate":[38],"need":[40],"calculating":[42],"inconvenient":[44],"form":[46],"Jacobian's":[49,118],"determinant.":[50,119],"Hence,":[51],"appropriate":[53],"description":[54],"obtained":[60],"and":[61],"computational":[63],"effort":[64],"reduced":[66],"significantly.":[67],"With":[68],"interval-based":[70],"approach":[71],"error":[72],"sources,":[73],"like":[74],"manufacturing":[75],"tolerances,":[76],"can":[77,89],"considered.":[79],"Consequently,":[80],"regions":[81],"that":[82],"do":[83],"not":[84,92],"satisfy":[85],"proposed":[87,106],"have":[94],"any":[95],"type-two":[96],"singularities.":[97],"Several":[98],"analysis":[99],"examples":[100],"demonstrate":[101],"efficiency":[103],"geometrical-based":[107],"solver":[108],"comparison":[110],"existing":[112],"solvers,":[113],"i.e.":[114],"based":[115],"on":[116]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
