{"id":"https://openalex.org/W2003456078","doi":"https://doi.org/10.1109/tro.2013.2291615","title":"A Kinematic Analysis and Evaluation of Planar Robots Designed From Optimally Fault-Tolerant Jacobians","display_name":"A Kinematic Analysis and Evaluation of Planar Robots Designed From Optimally Fault-Tolerant Jacobians","publication_year":2014,"publication_date":"2014-01-31","ids":{"openalex":"https://openalex.org/W2003456078","doi":"https://doi.org/10.1109/tro.2013.2291615","mag":"2003456078"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2013.2291615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2291615","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/A5009833624","display_name":"Khaled M. Ben-Gharbia","orcid":null},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Khaled M. Ben-Gharbia","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Colorado State University, Fort Collins, CO, USA","Dept. of Electr. and Comput. Eng., Colorado State Univ., Fort Collins, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Colorado State University, Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]},{"raw_affiliation_string":"Dept. of Electr. and Comput. Eng., Colorado State Univ., Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014854157","display_name":"Anthony A. Maciejewski","orcid":"https://orcid.org/0000-0002-1376-5825"},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony A. Maciejewski","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Colorado State University, Fort Collins, CO, USA","Dept. of Electr. and Comput. Eng., Colorado State Univ., Fort Collins, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Colorado State University, Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]},{"raw_affiliation_string":"Dept. of Electr. and Comput. Eng., Colorado State Univ., Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049787441","display_name":"Rodney G. Roberts","orcid":"https://orcid.org/0000-0001-9255-3216"},"institutions":[{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rodney G. Roberts","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Florida A&M\u2013Florida State University, Tallahassee, FL, USA","Dept. of Electr. & Comput. Eng., Florida A&M-Florida State Univ., Tallahassee, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Florida A&M\u2013Florida State University, Tallahassee, FL, USA","institution_ids":["https://openalex.org/I1323276237"]},{"raw_affiliation_string":"Dept. of Electr. & Comput. Eng., Florida A&M-Florida State Univ., Tallahassee, FL, USA","institution_ids":["https://openalex.org/I1323276237"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4178,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.89291584,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"30","issue":"2","first_page":"516","last_page":"524"},"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9909999966621399,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.9622021913528442},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8337111473083496},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6688741445541382},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5970300436019897},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5589078068733215},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5284960865974426},{"id":"https://openalex.org/keywords/condition-number","display_name":"Condition number","score":0.45406457781791687},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.42842885851860046},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4182770848274231},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41140830516815186},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4101276695728302},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3789038360118866},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32849597930908203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24318087100982666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19507381319999695},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.1256333887577057},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1023603081703186},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08761268854141235},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.0603918731212616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.05145984888076782}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.9622021913528442},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8337111473083496},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6688741445541382},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5970300436019897},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5589078068733215},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5284960865974426},{"id":"https://openalex.org/C84545080","wikidata":"https://www.wikidata.org/wiki/Q1147936","display_name":"Condition number","level":3,"score":0.45406457781791687},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.42842885851860046},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4182770848274231},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41140830516815186},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4101276695728302},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3789038360118866},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32849597930908203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24318087100982666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19507381319999695},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.1256333887577057},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1023603081703186},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08761268854141235},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.0603918731212616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05145984888076782},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2013.2291615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2291615","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1654503203","https://openalex.org/W1928612787","https://openalex.org/W1975468089","https://openalex.org/W1985506734","https://openalex.org/W1988882685","https://openalex.org/W2000937405","https://openalex.org/W2012502856","https://openalex.org/W2020475818","https://openalex.org/W2030190888","https://openalex.org/W2034047274","https://openalex.org/W2038886020","https://openalex.org/W2042538399","https://openalex.org/W2042637287","https://openalex.org/W2049410986","https://openalex.org/W2057578039","https://openalex.org/W2058939855","https://openalex.org/W2062284656","https://openalex.org/W2079142018","https://openalex.org/W2082323100","https://openalex.org/W2083860053","https://openalex.org/W2085767439","https://openalex.org/W2089216888","https://openalex.org/W2098766157","https://openalex.org/W2101073248","https://openalex.org/W2108839449","https://openalex.org/W2111550352","https://openalex.org/W2111809581","https://openalex.org/W2129340742","https://openalex.org/W2131965907","https://openalex.org/W2132135113","https://openalex.org/W2137568188","https://openalex.org/W2139582195","https://openalex.org/W2146921077","https://openalex.org/W2150443258","https://openalex.org/W2152194163","https://openalex.org/W2153233841","https://openalex.org/W2154946532","https://openalex.org/W2158691118","https://openalex.org/W2163195303","https://openalex.org/W2167618108","https://openalex.org/W2171298449","https://openalex.org/W2171907955","https://openalex.org/W2507079474","https://openalex.org/W2889107395","https://openalex.org/W3202538163","https://openalex.org/W6637133441","https://openalex.org/W6724837010","https://openalex.org/W7056488246"],"related_works":["https://openalex.org/W2371787712","https://openalex.org/W2392252176","https://openalex.org/W2384277607","https://openalex.org/W2131255803","https://openalex.org/W2095968807","https://openalex.org/W2348486094","https://openalex.org/W2360956111","https://openalex.org/W1984986068","https://openalex.org/W2353151136","https://openalex.org/W1996088900"],"abstract_inverted_index":{"It":[0,70,156],"is":[1,27,68,71,113,124,137,157],"common":[2],"practice":[3],"to":[4,115,126],"design":[5],"a":[6,18,105,116,138],"robot's":[7],"kinematics":[8],"from":[9,152],"the":[10,24,32,36,52,57,75,78,86,89,121,142,153,173],"desired":[11,25],"properties":[12,145],"that":[13,55,73,112,123,135,160,169],"are":[14,130,170],"locally":[15],"specified":[16],"by":[17,91],"manipulator":[19],"Jacobian.":[20,155],"In":[21],"this":[22,100],"work,":[23],"property":[26],"fault":[28,97],"tolerance,":[29],"defined":[30],"as":[31],"post-failure":[33],"Jacobian":[34,79,90],"possessing":[35],"largest":[37],"possible":[38,44,60],"minimum":[39],"singular":[40],"value":[41],"over":[42],"all":[43],"locked-joint":[45],"failures.":[46],"A":[47],"mathematical":[48],"analysis":[49,133],"based":[50],"on":[51],"Gram":[53],"matrix":[54],"describes":[56],"number":[58],"of":[59,77,85,88,146],"planar":[61],"robot":[62],"designs":[63],"for":[64,167],"optimally":[65],"fault-tolerant":[66],"Jacobians":[67],"presented.":[69],"shown":[72],"rearranging":[74],"columns":[76,87],"or":[80,83],"multiplying":[81],"one":[82,111],"more":[84],"\u00b11":[92],"will":[93,101],"not":[94],"affect":[95],"local":[96],"tolerance;":[98],"however,":[99],"typically":[102],"result":[103],"in":[104,141,163,172],"very":[106],"different":[107],"manipulator.":[108],"Two":[109],"examples,":[110],"optimal":[114,125],"single":[117],"joint":[118,128],"failure":[119],"and":[120],"second":[122],"two":[127],"failures,":[129],"analyzed.":[131],"This":[132],"shows":[134],"there":[136],"large":[139],"variability":[140],"global":[143,164],"kinematic":[144],"these":[147],"designs,":[148],"despite":[149],"being":[150],"generated":[151],"same":[154],"especially":[158],"surprising":[159],"major":[161],"differences":[162],"behavior":[165],"occurs":[166],"manipulators":[168],"identical":[171],"working":[174],"area.":[175]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}