{"id":"https://openalex.org/W2167628796","doi":"https://doi.org/10.1177/027836499101000505","title":"Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators","display_name":"Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators","publication_year":1991,"publication_date":"1991-10-01","ids":{"openalex":"https://openalex.org/W2167628796","doi":"https://doi.org/10.1177/027836499101000505","mag":"2167628796"},"language":"en","primary_location":{"id":"doi:10.1177/027836499101000505","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000505","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5036247461","display_name":"Krzysztof Tcho\u0144","orcid":"https://orcid.org/0000-0002-5691-9644"},"institutions":[{"id":"https://openalex.org/I11923345","display_name":"Wroc\u0142aw University of Science and Technology","ror":"https://ror.org/008fyn775","country_code":"PL","type":"education","lineage":["https://openalex.org/I11923345"]},{"id":"https://openalex.org/I219388962","display_name":"University of Wroc\u0142aw","ror":"https://ror.org/00yae6e25","country_code":"PL","type":"education","lineage":["https://openalex.org/I219388962"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Krzysztof Tcho\u0144","raw_affiliation_strings":["Institute of Engineering Cybernetics Technical University of Wroclaw 50-372 Wroclaw, Poland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Engineering Cybernetics Technical University of Wroclaw 50-372 Wroclaw, Poland","institution_ids":["https://openalex.org/I11923345","https://openalex.org/I219388962"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5036247461"],"corresponding_institution_ids":["https://openalex.org/I11923345","https://openalex.org/I219388962"],"apc_list":null,"apc_paid":null,"fwci":4.6262,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.94929373,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"10","issue":"5","first_page":"492","last_page":"504"},"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":0.9937999844551086,"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/T13267","display_name":"Advanced Theoretical and Applied Studies in Material Sciences and Geometry","score":0.9865000247955322,"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/kinematics","display_name":"Kinematics","score":0.8637135624885559},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7726302146911621},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6926379203796387},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6597321033477783},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5616416931152344},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5449506044387817},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5173406004905701},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.511693000793457},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.48883622884750366},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.46790727972984314},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4484635591506958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4479875862598419},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44444185495376587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41651225090026855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40488263964653015},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19058513641357422},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.18740180134773254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1782059371471405},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13976255059242249},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13758617639541626},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10517972707748413},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10057514905929565},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07683911919593811}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8637135624885559},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7726302146911621},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6926379203796387},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6597321033477783},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5616416931152344},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5449506044387817},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5173406004905701},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.511693000793457},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.48883622884750366},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.46790727972984314},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4484635591506958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4479875862598419},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44444185495376587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41651225090026855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40488263964653015},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19058513641357422},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.18740180134773254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1782059371471405},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13976255059242249},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13758617639541626},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10517972707748413},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10057514905929565},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07683911919593811},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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":1,"locations":[{"id":"doi:10.1177/027836499101000505","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000505","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W12301545","https://openalex.org/W134451811","https://openalex.org/W157331947","https://openalex.org/W179819691","https://openalex.org/W1484024929","https://openalex.org/W1499219562","https://openalex.org/W1523142753","https://openalex.org/W1568281949","https://openalex.org/W1582353822","https://openalex.org/W1607747992","https://openalex.org/W1963508612","https://openalex.org/W1965778005","https://openalex.org/W1995608593","https://openalex.org/W2012532135","https://openalex.org/W2016514184","https://openalex.org/W2020821970","https://openalex.org/W2021041861","https://openalex.org/W2029273112","https://openalex.org/W2038533008","https://openalex.org/W2046103922","https://openalex.org/W2070133526","https://openalex.org/W2081417772","https://openalex.org/W2081636480","https://openalex.org/W2087883536","https://openalex.org/W2095932875","https://openalex.org/W2098258465","https://openalex.org/W2132744385","https://openalex.org/W2139465235","https://openalex.org/W2207056292","https://openalex.org/W2595644070","https://openalex.org/W3144205924","https://openalex.org/W4206311976","https://openalex.org/W4213213245","https://openalex.org/W4214769085","https://openalex.org/W4235840289"],"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":{"In":[0],"this":[1],"paper":[2],"a":[3],"program":[4],"of":[5,13,20,32,34,42,55],"singularity":[6],"theory":[7],"is":[8],"pro":[9],"claimed":[10],"to":[11,46],"be":[12],"systematic":[14],"use":[15],"in":[16,70],"robotics.":[17],"Complete":[18],"lists":[19],"normal":[21,44,57],"forms":[22,45,58],"are":[23,26,49,59],"proposed":[24],"and":[25,52,61],"regarded":[27],"as":[28],"candi":[29],"date":[30],"models":[31],"kinematics":[33,48,72],"robot":[35],"manipulators.":[36],"Argu":[37],"ments":[38],"for":[39,64],"the":[40,56,65],"applicability":[41],"candidate":[43],"manipulator":[47],"provided.":[50],"Singularities":[51],"bifurcation":[53],"diagrams":[54],"examined":[60],"consequences":[62],"derived":[63],"inverse":[66],"kinematic":[67],"prob":[68],"lem":[69],"redundant":[71],"with":[73],"singularities.":[74]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
