{"id":"https://openalex.org/W2036659221","doi":"https://doi.org/10.1109/tro.2009.2020353","title":"A New Assessment of Singularities of Parallel Kinematic Chains","display_name":"A New Assessment of Singularities of Parallel Kinematic Chains","publication_year":2009,"publication_date":"2009-05-27","ids":{"openalex":"https://openalex.org/W2036659221","doi":"https://doi.org/10.1109/tro.2009.2020353","mag":"2036659221"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2020353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2020353","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5053622850","display_name":"Michele Conconi","orcid":"https://orcid.org/0000-0003-2392-2684"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Conconi","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bologna, Bologna, Italy","Dept. of Mech. Eng., Univ. of Bologna, Bologna, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of Bologna, Bologna, Italy#TAB#","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074104066","display_name":"Marco Carricato","orcid":"https://orcid.org/0000-0002-1528-4304"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Carricato","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bologna, Bologna, Italy","Dept. of Mech. Eng., Univ. of Bologna, Bologna, Italy#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of Bologna, Bologna, Italy#TAB#","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":10.6932,"has_fulltext":false,"cited_by_count":96,"citation_normalized_percentile":{"value":0.97964398,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"25","issue":"4","first_page":"757","last_page":"770"},"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":0.9977999925613403,"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":0.994700014591217,"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/gravitational-singularity","display_name":"Gravitational singularity","score":0.8688107132911682},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7548271417617798},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6814365983009338},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5552812218666077},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5427577495574951},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5110841989517212},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46910056471824646},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.428779661655426},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4006531834602356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24042561650276184},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20357945561408997},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.197747141122818},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1851654350757599},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13757023215293884},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13350778818130493}],"concepts":[{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.8688107132911682},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7548271417617798},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6814365983009338},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5552812218666077},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5427577495574951},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5110841989517212},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46910056471824646},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.428779661655426},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4006531834602356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24042561650276184},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20357945561408997},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.197747141122818},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1851654350757599},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13757023215293884},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13350778818130493},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2009.2020353","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2020353","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:cris.unibo.it:11585/75558","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/75558","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W40111655","https://openalex.org/W49601953","https://openalex.org/W131514738","https://openalex.org/W1485633210","https://openalex.org/W1597009130","https://openalex.org/W1973276604","https://openalex.org/W1976057175","https://openalex.org/W1976359904","https://openalex.org/W1980232872","https://openalex.org/W1983996098","https://openalex.org/W1988943250","https://openalex.org/W1991476582","https://openalex.org/W1996088900","https://openalex.org/W2003293704","https://openalex.org/W2022882378","https://openalex.org/W2028260950","https://openalex.org/W2046162245","https://openalex.org/W2054119091","https://openalex.org/W2058774057","https://openalex.org/W2060497234","https://openalex.org/W2060890297","https://openalex.org/W2063882110","https://openalex.org/W2079965877","https://openalex.org/W2086016518","https://openalex.org/W2094166601","https://openalex.org/W2109276414","https://openalex.org/W2110647104","https://openalex.org/W2124860692","https://openalex.org/W2131255803","https://openalex.org/W2133037307","https://openalex.org/W2144785565","https://openalex.org/W2146475250","https://openalex.org/W2226213058","https://openalex.org/W2341668857","https://openalex.org/W2491751157","https://openalex.org/W3043217108","https://openalex.org/W3118296609","https://openalex.org/W3133120468","https://openalex.org/W4240563968","https://openalex.org/W4241030939","https://openalex.org/W4244280645","https://openalex.org/W4254279654","https://openalex.org/W4285719527","https://openalex.org/W6788259844","https://openalex.org/W6790757578","https://openalex.org/W7065243650"],"related_works":["https://openalex.org/W4245687327","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2112549839","https://openalex.org/W2555022781","https://openalex.org/W2765315036","https://openalex.org/W81115686","https://openalex.org/W4322731072"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,39,70],"novel":[4],"assessment":[5],"of":[6,8,28,53,72,79,102,115,143,180],"singularities":[7,57,81,96],"general":[9],"parallel":[10],"kinematic":[11,47],"chains.":[12],"Hierarchical":[13],"levels":[14],"in":[15],"which":[16,145],"different":[17],"critical":[18],"phenomena":[19,90],"originate":[20],"are":[21,31,58,67,86,91,107,127,138,175],"recognized.":[22],"At":[23],"each":[24,152],"level,":[25],"the":[26,45,83,113,116,130,134,163,168,172,178,181],"causes":[27],"singular":[29,136],"events":[30,137,169],"identified":[32],"and":[33,35,55,60,62,88,97,104,124,129],"interpreted,":[34],"on":[36,82,112],"their":[37],"basis,":[38],"comprehensive":[40],"taxonomy":[41],"is":[42,49,75,158,166],"proposed.":[43],"First,":[44],"unactuated":[46],"chain":[48,85,118],"studied.":[50,139],"The":[51,77,100,110,140],"concepts":[52],"leg":[54],"passive-constraint":[56],"described,":[59],"stationary":[61],"increased":[63],"instantaneous":[64,141],"mobility":[65],"configurations":[66],"identified.":[68],"Then,":[69],"set":[71],"motorized":[73],"joints":[74],"chosen.":[76],"effects":[78],"first-level":[80],"actuated":[84,117],"investigated,":[87],"further":[89],"identified,":[92],"such":[93],"as":[94],"redundancy":[95,142],"active-constraint":[98],"singularities.":[99],"notions":[101],"reaction":[103],"action":[105],"spaces":[106],"originally":[108],"discussed.":[109],"consequences":[111],"ability":[114],"to":[119],"effectively":[120],"govern":[121],"its":[122],"local":[123],"global":[125],"freedoms":[126],"analyzed,":[128],"complex":[131],"interactions":[132],"between":[133],"various":[135],"actuators,":[144],"occur":[146],"when":[147,162],"these":[148],"work":[149],"either":[150],"against":[151,155],"other":[153],"or":[154],"joint":[156],"constraints,":[157],"also":[159],"evaluated.":[160],"Finally,":[161],"input-output":[164],"mechanism":[165],"considered,":[167],"described":[170],"at":[171],"previous":[173],"stages":[174],"interpreted":[176],"within":[177],"perspective":[179],"machine's":[182],"desired":[183],"use.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}