{"id":"https://openalex.org/W2092558212","doi":"https://doi.org/10.2316/journal.206.2006.3.206-2944","title":"ON THE DETERMINATION OF OPEN-LOOP MANIPULATOR SINGULARITIES SUBJECT TO UNILATERAL OR NON-UNILATERAL CONSTRAINTS1","display_name":"ON THE DETERMINATION OF OPEN-LOOP MANIPULATOR SINGULARITIES SUBJECT TO UNILATERAL OR NON-UNILATERAL CONSTRAINTS1","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W2092558212","doi":"https://doi.org/10.2316/journal.206.2006.3.206-2944","mag":"2092558212"},"language":"en","primary_location":{"id":"doi:10.2316/journal.206.2006.3.206-2944","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2006.3.206-2944","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","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/A5054246503","display_name":"James Yang","orcid":"https://orcid.org/0000-0003-0842-7933"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"J. Yang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5111863602","display_name":"Karim Abdel\u2010Malek","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K. Abdel-Malek","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054246503"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8193,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.86751283,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"21","issue":"3","first_page":null,"last_page":null},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9879000186920166,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8116161823272705},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.7655197381973267},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.702522873878479},{"id":"https://openalex.org/keywords/rank","display_name":"Rank (graph theory)","score":0.5507109761238098},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5488718748092651},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5281921625137329},{"id":"https://openalex.org/keywords/subject","display_name":"Subject (documents)","score":0.500490665435791},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4681304693222046},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44149264693260193},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39654412865638733},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.3341350257396698},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.32853513956069946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32244932651519775},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.24166637659072876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1855388581752777},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.17341011762619019},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14850282669067383},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.12929409742355347},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11979803442955017}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8116161823272705},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.7655197381973267},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.702522873878479},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.5507109761238098},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5488718748092651},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5281921625137329},{"id":"https://openalex.org/C2777855551","wikidata":"https://www.wikidata.org/wiki/Q12310021","display_name":"Subject (documents)","level":2,"score":0.500490665435791},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4681304693222046},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44149264693260193},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39654412865638733},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.3341350257396698},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.32853513956069946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32244932651519775},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.24166637659072876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1855388581752777},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.17341011762619019},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14850282669067383},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.12929409742355347},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11979803442955017},{"id":"https://openalex.org/C161191863","wikidata":"https://www.wikidata.org/wiki/Q199655","display_name":"Library science","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:10.2316/journal.206.2006.3.206-2944","is_oa":false,"landing_page_url":"https://doi.org/10.2316/journal.206.2006.3.206-2944","pdf_url":null,"source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1995914058","https://openalex.org/W1998207189","https://openalex.org/W2005419249","https://openalex.org/W2008235133","https://openalex.org/W2015685236","https://openalex.org/W2017287831","https://openalex.org/W2019230658","https://openalex.org/W2021856779","https://openalex.org/W2023005132","https://openalex.org/W2026914028","https://openalex.org/W2036710381","https://openalex.org/W2037882135","https://openalex.org/W2053482006","https://openalex.org/W2055195260","https://openalex.org/W2058160525","https://openalex.org/W2112491477","https://openalex.org/W2134139409","https://openalex.org/W2146475250","https://openalex.org/W2161755975","https://openalex.org/W2167305858","https://openalex.org/W2246023205","https://openalex.org/W4315567101"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1679399962","https://openalex.org/W2132859693","https://openalex.org/W1901106430","https://openalex.org/W3136192696"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"general":[4,17],"Jacobian":[5],"row-rank":[6],"deficiency":[7],"methodto":[8],"obtain":[9],"all":[10],"singular":[11],"curves/surfaces":[12],"enveloping":[13],"the":[14],"workspace":[15],"ofa":[16],"n":[18],"degree-of-freedom":[19],"mechanism":[20],"subject":[21],"to":[22],"unilateral":[23],"ornon-unilateral":[24],"constraints.":[25]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
