{"id":"https://openalex.org/W1982392095","doi":"https://doi.org/10.1163/156855306776562233","title":"Task reconstruction method for real-time singularity avoidance for robotic manipulators","display_name":"Task reconstruction method for real-time singularity avoidance for robotic manipulators","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W1982392095","doi":"https://doi.org/10.1163/156855306776562233","mag":"1982392095"},"language":"en","primary_location":{"id":"doi:10.1163/156855306776562233","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855306776562233","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/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":["Pohang University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pohang University of Science and Technology","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/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":"Giacomo Marani","raw_affiliation_strings":["Pohang University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Pohang University of Science and Technology","institution_ids":["https://openalex.org/I123900574"]}]},{"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/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":"Wan Kyun Chung","raw_affiliation_strings":["University of Hawaii("],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hawaii(","institution_ids":["https://openalex.org/I1331384533"]}]},{"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"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Science Foundation","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":5.5085,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.94890039,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"20","issue":"4","first_page":"453","last_page":"481"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.995199978351593,"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":0.9901999831199646,"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/singularity","display_name":"Singularity","score":0.7240486145019531},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6383726596832275},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6012428402900696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5906050801277161},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.5638787150382996},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5529626607894897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5134592652320862},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5101635456085205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48418906331062317},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48375725746154785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39967480301856995},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3699483871459961},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28570038080215454},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16589930653572083},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.15770429372787476},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10589879751205444},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.09535050392150879},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06754645705223083}],"concepts":[{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.7240486145019531},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6383726596832275},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6012428402900696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5906050801277161},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.5638787150382996},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5529626607894897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5134592652320862},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5101635456085205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48418906331062317},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48375725746154785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39967480301856995},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3699483871459961},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28570038080215454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16589930653572083},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.15770429372787476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10589879751205444},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.09535050392150879},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06754645705223083},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1163/156855306776562233","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855306776562233","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/24010","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/24010","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W216064520","https://openalex.org/W1510918013","https://openalex.org/W1544857160","https://openalex.org/W1581095231","https://openalex.org/W1585071672","https://openalex.org/W1873533879","https://openalex.org/W1982442957","https://openalex.org/W1997650413","https://openalex.org/W2005636201","https://openalex.org/W2010262288","https://openalex.org/W2014461734","https://openalex.org/W2015003349","https://openalex.org/W2042803738","https://openalex.org/W2045990382","https://openalex.org/W2049410986","https://openalex.org/W2058544403","https://openalex.org/W2066118009","https://openalex.org/W2072763216","https://openalex.org/W2076271829","https://openalex.org/W2100790457","https://openalex.org/W2103150552","https://openalex.org/W2103791020","https://openalex.org/W2108928610","https://openalex.org/W2113260111","https://openalex.org/W2115639333","https://openalex.org/W2116937526","https://openalex.org/W2121431541","https://openalex.org/W2123775887","https://openalex.org/W2124302400","https://openalex.org/W2126358534","https://openalex.org/W2144629157","https://openalex.org/W2145731088","https://openalex.org/W2152623759","https://openalex.org/W2159139838","https://openalex.org/W2162221563","https://openalex.org/W2165187461","https://openalex.org/W2166365633","https://openalex.org/W2166982249","https://openalex.org/W2181743290"],"related_works":["https://openalex.org/W2726339783","https://openalex.org/W2095039895","https://openalex.org/W2022135995","https://openalex.org/W1668363177","https://openalex.org/W4302011306","https://openalex.org/W2022448890","https://openalex.org/W2963052782","https://openalex.org/W1966148554","https://openalex.org/W2148110192","https://openalex.org/W2951543590"],"abstract_inverted_index":{"The":[0,24,72,92,145,202],"kinematic":[1],"(KS)":[2],"and":[3,39,55,217],"algorithmic":[4],"singularities":[5,29],"(AS)":[6],"in":[7,35,42,90,171],"controlling":[8],"robotic":[9],"manipulators":[10],"have":[11],"been":[12],"investigated":[13],"intensively":[14],"because":[15],"they":[16],"are":[17],"not":[18],"predictable":[19],"or":[20],"difficult":[21],"to":[22,113,139,150,156],"avoid.":[23],"problem":[25],"with":[26],"handling":[27],"these":[28],"is":[30,75,102,105,182,208],"an":[31],"unnecessary":[32],"performance":[33,43,67,190,227],"reduction":[34],"the":[36,40,65,79,82,96,114,140,152,158,166,176,193,199,205,218,222,226,231],"non-singular":[37],"region":[38,195],"difficulty":[41],"tuning.":[44],"In":[45,174],"this":[46,162],"paper,":[47],"we":[48,186],"propose":[49],"a":[50,59,87,108,125,213],"method":[51,74,101,123,147,207,224],"of":[52,95,118,142,179,204],"avoiding":[53],"KS":[54],"AS":[56],"by":[57,68,77,85,211],"applying":[58],"task":[60,66,98,127,143,153,159,189],"reconstruction":[61,99,117],"approach":[62],"while":[63,196],"maximizing":[64],"calculating":[69],"singularity":[70,83,88],"measures.":[71],"proposed":[73,97,206],"implemented":[76],"removing":[78],"component":[80],"approaching":[81],"calculated":[84],"using":[86,212],"measure":[89],"real-time.":[91],"outstanding":[93],"feature":[94,130],"(TR)":[100],"that":[103,221],"it":[104],"based":[106],"on":[107],"local":[109,115],"TR":[110,146],"as":[111],"opposed":[112],"joint":[116],"many":[119],"other":[120],"approaches.":[121],"This":[122],"has":[124],"dynamic":[126],"priority":[128],"assignment":[129],"which":[131],"ensures":[132],"system":[133,167],"stability":[134],"under":[135],"singular":[136,194],"regions":[137],"due":[138],"change":[141],"priority.":[144],"enables":[148],"us":[149],"increase":[151,163],"controller":[154],"gain":[155],"improve":[157],"performance,":[160],"whereas":[161],"can":[164,187],"destabilize":[165],"for":[168],"conventional":[169],"algorithms":[170],"real":[172],"experiments.":[173],"addition,":[175],"physical":[177],"meaning":[178],"tuning":[180],"parameters":[181],"very":[183],"straightforward.":[184],"Hence,":[185],"maximize":[188],"even":[191],"near":[192],"simultaneously":[197],"obtaining":[198],"singularity-free":[200],"motion.":[201],"advantage":[203],"experimentally":[209],"tested":[210],"7-d.o.f.":[214],"spatial":[215],"manipulator":[216],"result":[219],"shows":[220],"new":[223],"improves":[225],"several":[228],"times":[229],"over":[230],"existing":[232],"algorithms.":[233]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}