{"id":"https://openalex.org/W1973419220","doi":"https://doi.org/10.1109/tro.2013.2260679","title":"Planning Singularity-Free Paths on Closed-Chain Manipulators","display_name":"Planning Singularity-Free Paths on Closed-Chain Manipulators","publication_year":2013,"publication_date":"2013-05-23","ids":{"openalex":"https://openalex.org/W1973419220","doi":"https://doi.org/10.1109/tro.2013.2260679","mag":"1973419220"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2013.2260679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2260679","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/2117/20248","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021615965","display_name":"O. Bohigas","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Oriol Bohigas","raw_affiliation_strings":["Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","Kinematics & Robot Design Group, UPC, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Kinematics & Robot Design Group, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074592454","display_name":"Michael E. Henderson","orcid":"https://orcid.org/0009-0007-2206-0011"},"institutions":[{"id":"https://openalex.org/I4210114115","display_name":"IBM Research - Thomas J. Watson Research Center","ror":"https://ror.org/0265w5591","country_code":"US","type":"facility","lineage":["https://openalex.org/I1341412227","https://openalex.org/I4210114115"]},{"id":"https://openalex.org/I1341412227","display_name":"IBM (United States)","ror":"https://ror.org/05hh8d621","country_code":"US","type":"company","lineage":["https://openalex.org/I1341412227"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael E. Henderson","raw_affiliation_strings":["Numerical Analysis Group in the Mathematical Sciences Department, IBM Thomas J. Watson Research Center, Yorktown Heights, NY, USA","Math. Sci. Dept., IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Numerical Analysis Group in the Mathematical Sciences Department, IBM Thomas J. Watson Research Center, Yorktown Heights, NY, USA","institution_ids":["https://openalex.org/I4210114115"]},{"raw_affiliation_string":"Math. Sci. Dept., IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA","institution_ids":["https://openalex.org/I1341412227"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089347287","display_name":"Llu\u00eds Ros","orcid":"https://orcid.org/0000-0002-8338-6062"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Lluis Ros","raw_affiliation_strings":["Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","Kinematics & Robot Design Group, UPC, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Kinematics & Robot Design Group, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044959488","display_name":"Montserrat Manubens","orcid":null},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Montserrat Manubens","raw_affiliation_strings":["Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","Kinematics & Robot Design Group, UPC, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Kinematics & Robot Design Group, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064488097","display_name":"Josep M. Porta","orcid":"https://orcid.org/0000-0002-5056-1717"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Josep M. Porta","raw_affiliation_strings":["Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","Kinematics & Robot Design Group, UPC, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kinematics and Robot Design Group, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, UPC, CSIC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Kinematics & Robot Design Group, UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021615965"],"corresponding_institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":6.6149,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.96312696,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"29","issue":"4","first_page":"888","last_page":"898"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.8007081747055054},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7237152457237244},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.601417064666748},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5306847095489502},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5291332006454468},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.5061995387077332},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4867398738861084},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.471684992313385},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.44071513414382935},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4402095675468445},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.40443235635757446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3788270652294159},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27163928747177124},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.17734402418136597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1605430543422699},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.14216840267181396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0953071117401123},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07242083549499512}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.8007081747055054},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7237152457237244},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.601417064666748},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5306847095489502},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5291332006454468},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.5061995387077332},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4867398738861084},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.471684992313385},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.44071513414382935},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4402095675468445},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.40443235635757446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3788270652294159},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27163928747177124},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.17734402418136597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1605430543422699},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.14216840267181396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0953071117401123},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07242083549499512},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/tro.2013.2260679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2260679","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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:upcommons.upc.edu:2117/20248","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/20248","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.374.9758","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.374.9758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/download/scidoc/1422/","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.412.2639","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.412.2639","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/people/porta/Docs/tro13d.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.642.8736","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.642.8736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/people/ros/Separates/sci-20-r18-tro-sfree.pdf","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/96444","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/96444","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Art\u00edculo"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/20248","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/20248","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W28127197","https://openalex.org/W41341799","https://openalex.org/W101508493","https://openalex.org/W103986931","https://openalex.org/W240493022","https://openalex.org/W827594361","https://openalex.org/W1424654272","https://openalex.org/W1507932579","https://openalex.org/W1542343170","https://openalex.org/W1560270123","https://openalex.org/W1607612775","https://openalex.org/W1623711946","https://openalex.org/W1780075736","https://openalex.org/W1990822075","https://openalex.org/W1992042563","https://openalex.org/W2009334861","https://openalex.org/W2012329384","https://openalex.org/W2013561532","https://openalex.org/W2023258376","https://openalex.org/W2041729856","https://openalex.org/W2052392738","https://openalex.org/W2078106140","https://openalex.org/W2089144007","https://openalex.org/W2089733899","https://openalex.org/W2103776982","https://openalex.org/W2116341587","https://openalex.org/W2118222326","https://openalex.org/W2119944765","https://openalex.org/W2122410182","https://openalex.org/W2122816609","https://openalex.org/W2123488995","https://openalex.org/W2133631661","https://openalex.org/W2138452944","https://openalex.org/W2145190217","https://openalex.org/W2145869458","https://openalex.org/W2163426622","https://openalex.org/W2168311907","https://openalex.org/W2172246177","https://openalex.org/W2291165962","https://openalex.org/W2403902171","https://openalex.org/W2611243847","https://openalex.org/W2966015659","https://openalex.org/W4211166659","https://openalex.org/W4236905297","https://openalex.org/W4242811155","https://openalex.org/W6636399329","https://openalex.org/W6636408588","https://openalex.org/W6696853167","https://openalex.org/W6766636623"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2066019639","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2635001913","https://openalex.org/W1518655544","https://openalex.org/W3162047364","https://openalex.org/W2157832558"],"abstract_inverted_index":{"This":[0],"paper":[1],"provides":[2],"an":[3,138],"algorithm":[4],"for":[5],"computing":[6],"singularity-free":[7,101,144,167],"paths":[8],"on":[9,89,107,185],"closed-chain":[10],"manipulators.":[11],"Given":[12],"two":[13],"nonsingular":[14],"configurations":[15],"of":[16,46,61,103,141,169,171,182],"the":[17,19,36,44,47,51,100,104,123,130,142,166,172,180,183],"manipulator,":[18,105],"method":[20,54,131,184],"attempts":[21],"to":[22,35,58,114,136,154,164],"connect":[23],"them":[24],"through":[25],"a":[26,30,72,78,91,96,109,148],"path":[27,73,83],"that":[28,94,178],"maintains":[29,95],"minimum":[31],"clearance":[32],"with":[33,99],"respect":[34],"singularity":[37],"locus":[38],"at":[39,77],"all":[40],"points,":[41],"which":[42,151],"guarantees":[43],"controllability":[45],"manipulator":[48,173],"everywhere":[49],"along":[50],"path.":[52],"The":[53,86],"can":[55,132],"be":[56,134],"applied":[57],"nonredundant":[59],"manipulators":[60],"general":[62],"architecture,":[63],"and":[64,106],"it":[65],"is":[66,126,152],"resolution":[67,80],"complete.":[68],"It":[69],"always":[70],"returns":[71],"whenever":[74],"one":[75,120],"exists":[76],"given":[79,149],"or":[81,163],"determines":[82],"nonexistence":[84],"otherwise.":[85],"strategy":[87],"relies":[88],"defining":[90],"smooth":[92],"manifold":[93,117],"one-to-one":[97],"correspondence":[98],"C-space":[102],"using":[108],"higher":[110],"dimensional":[111],"continuation":[112],"technique":[113],"explore":[115],"this":[116],"systematically":[118],"from":[119,147],"configuration,":[121,150],"until":[122],"second":[124],"configuration":[125],"found.":[127],"If":[128],"desired,":[129],"also":[133],"used":[135],"compute":[137],"exhaustive":[139],"atlas":[140],"whole":[143],"component":[145],"reachable":[146],"useful":[153],"rapidly":[155],"resolve":[156],"subsequent":[157],"planning":[158],"queries":[159],"within":[160],"such":[161],"component,":[162],"visualize":[165],"workspace":[168],"any":[170],"coordinates.":[174],"Examples":[175],"are":[176],"included":[177],"demonstrate":[179],"performance":[181],"illustrative":[186],"situations.":[187]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
