{"id":"https://openalex.org/W3011208989","doi":"https://doi.org/10.5821/dissertation-2117-168571","title":"Solving robotic kinematic problems : singularities and inverse kinematics","display_name":"Solving robotic kinematic problems : singularities and inverse kinematics","publication_year":2018,"publication_date":"2018-09-14","ids":{"openalex":"https://openalex.org/W3011208989","doi":"https://doi.org/10.5821/dissertation-2117-168571","mag":"3011208989"},"language":"en","primary_location":{"id":"doi:10.5821/dissertation-2117-168571","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-168571","pdf_url":"https://upcommons.upc.edu/bitstream/2117/168571/1/TIZA1de1.pdf","source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},"type":"dissertation","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://upcommons.upc.edu/bitstream/2117/168571/1/TIZA1de1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008108577","display_name":"Isiah Zaplana","orcid":"https://orcid.org/0000-0002-0862-3240"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zaplana Agut, Isiah","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5008108577"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.8049461245536804},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7472677826881409},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6361802816390991},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.581051230430603},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5209730267524719},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4855210781097412},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.470567911863327},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4390214681625366},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.4310499429702759},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42866405844688416},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4211546778678894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41226834058761597},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40465426445007324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30949676036834717},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24382489919662476},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.24213844537734985},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.23718008399009705},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.21705731749534607},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12577617168426514}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8049461245536804},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7472677826881409},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6361802816390991},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.581051230430603},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5209730267524719},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4855210781097412},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.470567911863327},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4390214681625366},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.4310499429702759},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42866405844688416},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4211546778678894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41226834058761597},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40465426445007324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30949676036834717},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24382489919662476},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.24213844537734985},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.23718008399009705},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.21705731749534607},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12577617168426514},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.5821/dissertation-2117-168571","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-168571","pdf_url":"https://upcommons.upc.edu/bitstream/2117/168571/1/TIZA1de1.pdf","source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},{"id":"pmh:oai:dnet:upcommonspor::11b7eb0d66762b344460e7d7eed3dd0d","is_oa":false,"landing_page_url":"http://hdl.handle.net/2117/168571","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TDX (Tesis Doctorals en Xarxa)","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:upcommons.upc.edu:2117/168571","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/168571","pdf_url":"http://hdl.handle.net/2117/168571","source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TDX (Tesis Doctorals en Xarxa)","raw_type":"info:eu-repo/semantics/doctoralThesis"},{"id":"pmh:oai:www.tdx.cat:10803/667496","is_oa":true,"landing_page_url":"http://hdl.handle.net/10803/667496","pdf_url":"http://hdl.handle.net/10803/667496","source":{"id":"https://openalex.org/S4306401111","display_name":"Tesis Doctorals en Xarxa (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TDX (Tesis Doctorals en Xarxa)","raw_type":"info:eu-repo/semantics/doctoralThesis"}],"best_oa_location":{"id":"doi:10.5821/dissertation-2117-168571","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-168571","pdf_url":"https://upcommons.upc.edu/bitstream/2117/168571/1/TIZA1de1.pdf","source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3011208989.pdf"},"referenced_works_count":147,"referenced_works":["https://openalex.org/W69834791","https://openalex.org/W95165335","https://openalex.org/W103612997","https://openalex.org/W109253990","https://openalex.org/W129751876","https://openalex.org/W143430226","https://openalex.org/W147060992","https://openalex.org/W147640971","https://openalex.org/W187437888","https://openalex.org/W569143587","https://openalex.org/W827594361","https://openalex.org/W1256870269","https://openalex.org/W1481010376","https://openalex.org/W1484869677","https://openalex.org/W1507305558","https://openalex.org/W1508219926","https://openalex.org/W1509235676","https://openalex.org/W1509316461","https://openalex.org/W1544857160","https://openalex.org/W1551708715","https://openalex.org/W1553460498","https://openalex.org/W1564897360","https://openalex.org/W1582353822","https://openalex.org/W1595823061","https://openalex.org/W1631961904","https://openalex.org/W1637122633","https://openalex.org/W1641591255","https://openalex.org/W1889081428","https://openalex.org/W1908569898","https://openalex.org/W1940811994","https://openalex.org/W1969127386","https://openalex.org/W1983103208","https://openalex.org/W1989207852","https://openalex.org/W1989245954","https://openalex.org/W1991332273","https://openalex.org/W1994875265","https://openalex.org/W1999165127","https://openalex.org/W1999466269","https://openalex.org/W2014409719","https://openalex.org/W2015003349","https://openalex.org/W2015805095","https://openalex.org/W2017925157","https://openalex.org/W2018145620","https://openalex.org/W2022299564","https://openalex.org/W2023005132","https://openalex.org/W2025302331","https://openalex.org/W2025939589","https://openalex.org/W2032825696","https://openalex.org/W2036710381","https://openalex.org/W2037841262","https://openalex.org/W2038078825","https://openalex.org/W2038590856","https://openalex.org/W2040829779","https://openalex.org/W2048350835","https://openalex.org/W2050586213","https://openalex.org/W2052565779","https://openalex.org/W2058544403","https://openalex.org/W2061444623","https://openalex.org/W2061483625","https://openalex.org/W2061833617","https://openalex.org/W2064774701","https://openalex.org/W2068994059","https://openalex.org/W2070133526","https://openalex.org/W2075171938","https://openalex.org/W2086736954","https://openalex.org/W2110239928","https://openalex.org/W2110333200","https://openalex.org/W2112474089","https://openalex.org/W2113265921","https://openalex.org/W2116937526","https://openalex.org/W2117197232","https://openalex.org/W2119297270","https://openalex.org/W2124994918","https://openalex.org/W2126080612","https://openalex.org/W2126358534","https://openalex.org/W2126387190","https://openalex.org/W2128099242","https://openalex.org/W2130576084","https://openalex.org/W2131011485","https://openalex.org/W2132796722","https://openalex.org/W2133493588","https://openalex.org/W2134439116","https://openalex.org/W2134533546","https://openalex.org/W2135658132","https://openalex.org/W2140808768","https://openalex.org/W2143331695","https://openalex.org/W2146764783","https://openalex.org/W2149186423","https://openalex.org/W2154430926","https://openalex.org/W2157396769","https://openalex.org/W2159139838","https://openalex.org/W2163716966","https://openalex.org/W2167803496","https://openalex.org/W2176690447","https://openalex.org/W2179817186","https://openalex.org/W2188342150","https://openalex.org/W2191755094","https://openalex.org/W2197441865","https://openalex.org/W2198115693","https://openalex.org/W2246023205","https://openalex.org/W2288984890","https://openalex.org/W2291244835","https://openalex.org/W2291700020","https://openalex.org/W2293086740","https://openalex.org/W2293346053","https://openalex.org/W2296746564","https://openalex.org/W2324701635","https://openalex.org/W2337229041","https://openalex.org/W2339553700","https://openalex.org/W2414686382","https://openalex.org/W2464016696","https://openalex.org/W2471059302","https://openalex.org/W2561388535","https://openalex.org/W2605566604","https://openalex.org/W2620083726","https://openalex.org/W2625764185","https://openalex.org/W2901406073","https://openalex.org/W3040970451","https://openalex.org/W3139144103","https://openalex.org/W4213294810","https://openalex.org/W4234486210","https://openalex.org/W4245155680","https://openalex.org/W6607598278","https://openalex.org/W6628159888","https://openalex.org/W6628830011","https://openalex.org/W6630495656","https://openalex.org/W6630702416","https://openalex.org/W6633207173","https://openalex.org/W6633587032","https://openalex.org/W6635516358","https://openalex.org/W6646187099","https://openalex.org/W6656501073","https://openalex.org/W6662813678","https://openalex.org/W6665960101","https://openalex.org/W6669241459","https://openalex.org/W6677390752","https://openalex.org/W6678027535","https://openalex.org/W6680987304","https://openalex.org/W6681072130","https://openalex.org/W6683663090","https://openalex.org/W6704124710","https://openalex.org/W6716006756","https://openalex.org/W6983736726","https://openalex.org/W6996369988","https://openalex.org/W7008078068","https://openalex.org/W7021257251","https://openalex.org/W7024461073"],"related_works":["https://openalex.org/W2991355169","https://openalex.org/W3047523153","https://openalex.org/W4226342200","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W881443103","https://openalex.org/W2966959764","https://openalex.org/W2292471743","https://openalex.org/W4294975949","https://openalex.org/W2053228135"],"abstract_inverted_index":{"Kinematics":[0],"is":[1,106,139,164,252,282,313,318,376,424],"a":[2,59,155,159,190,255,272,299,327,361,379,425,446,701,774,831,840,864,907],"branch":[3],"of":[4,11,16,32,46,49,61,82,102,195,208,219,232,278,288,305,334,341,363,391,416,421,434,449,479,481],"classical":[5],"mechanics":[6],"that":[7,22,72,212,337],"describes":[8],"the":[9,20,34,41,92,95,152,169,196,201,204,210,220,228,241,250,269,279,286,296,303,306,331,335,339,349,389,413,418,431,435,442,450,465,470,477],"motion":[10,75],"points,":[12],"bodies,":[13,63],"and":[14,133,171,193,230,308,324,368],"systems":[15],"bodies":[17],"without":[18],"considering":[19],"forces":[21],"cause":[23],"such":[24,214,322],"motion.":[25],"For":[26],"serial":[27,53,86,233],"robot":[28,54,96,111,153,336,514,579,593,641,816],"manipulators,":[29],"kinematics":[30,206,222,243],"consists":[31,207],"describing":[33],"open":[35],"chain":[36],"geometry":[37],"as":[38,40,58,200,455,457],"well":[39,456],"position,":[42],"velocity":[43],"and/or":[44],"acceleration":[45],"each":[47,238,480],"one":[48,100,121],"its":[50,116,225,482],"components.":[51],"Rigid":[52],"manipulators":[55,407],"are":[56,91,127,354,474],"designed":[57],"sequence":[60],"rigid":[62],"called":[64,70],"links,":[65],"connected":[66],"by":[67,359,369],"motor-actuated":[68],"pairs,":[69],"joints,":[71,364,367],"provide":[73,213,326],"relative":[74],"between":[76],"consecutive":[77],"links.":[78],"Two":[79],"kinematic":[80,187,453],"problems":[81,454],"special":[83],"relevance":[84],"for":[85,158,237,258,302,343,388,405,460],"robots":[87,353,532,569,724,836,841,903],"are:":[88],"-":[89,185,572,670],"Singularities:":[90],"configurations":[93,211],"where":[94],"loses":[97],"at":[98,119,476],"least":[99,120],"degree":[101],"freedom":[103],"(DOF).":[104],"This":[105,374],"equivalent":[107],"to:":[108],"(a)":[109,591],"The":[110,162,217,275],"cannot":[112],"translate":[113],"or":[114,142,182],"rotate":[115],"end-effector":[117,202],"in":[118,227,271,330,469],"direction.":[122],"(b)":[123,607],"Unbounded":[124],"joint":[125,372],"velocities":[126],"required":[128],"to":[129,150,167,177,180,246,253,266,283,285,295,320,325,348,356,411],"generate":[130],"finite":[131],"linear":[132],"angular":[134],"velocities.":[135],"Either":[136],"if":[137],"it":[138],"real-time":[140],"teleoperation":[141],"off-line":[143],"path":[144],"planning,":[145],"singularities":[146,170,307],"must":[147],"be":[148,409],"addressed":[149],"make":[151],"exhibit":[154],"good":[156],"performance":[157],"given":[160,239,475],"task.":[161],"objective":[163,251],"not":[165],"only":[166],"identify":[168],"their":[172,309,371],"associated":[173,310],"singular":[174,311],"directions":[175,312],"but":[176],"design":[178],"strategies":[179,459],"avoid":[181],"handle":[183],"them.":[184,345,462],"Inverse":[186],"problem:":[188],"Given":[189],"particular":[191],"position":[192],"orientation":[194],"end-effector,":[197],"also":[198,383],"known":[199],"pose,":[203],"inverse":[205,221,242,350],"finding":[209],"desired":[215],"pose.":[216,703],"importance":[218],"relies":[223],"on":[224],"role":[226],"programming":[229],"control":[231,722],"robots.":[234],"Besides,":[235],"since":[236,262],"pose":[240,688,731],"has":[244],"up":[245],"sixteen":[247],"different":[248,392,466],"solutions,":[249],"find":[254],"closed-form":[256,263,393,402],"method":[257],"solving":[259,461],"this":[260],"problem,":[261,298],"methods":[264,403,423],"allow":[265],"obtain":[267,412],"all":[268,417],"solutions":[270],"compact":[273],"form.":[274],"main":[276],"goal":[277],"Ph.D.":[280,471],"dissertation":[281,444],"contribute":[284],"solution":[287],"both":[289],"problems.":[290],"In":[291],"particular,":[292,781],"with":[293],"respect":[294,347],"singularity":[297],"novel":[300,426,458],"scheme":[301],"identification":[304,323],"introduced.":[314],"Moreover,":[315],"geometric":[316,437],"algebra":[317],"used":[319],"simplify":[321],"distance":[328],"function":[329],"configuration":[332],"space":[333],"allows":[338],"definition":[340],"algorithms":[342],"avoiding":[344],"With":[346],"kinematics,":[351],"redundant":[352,366],"reduced":[355],"non-redundant":[357,406],"ones":[358],"selecting":[360],"set":[362],"denoted":[365],"parameterizing":[370],"variables.":[373],"selection":[375],"made":[377],"through":[378],"workspace":[380],"analysis":[381,448],"which":[382],"provides":[384,445],"an":[385],"upper":[386],"bound":[387],"number":[390],"solutions.":[394,419],"Once":[395],"these":[396,422],"joints":[397],"have":[398],"been":[399],"identified,":[400],"several":[401],"developed":[404,428],"can":[408],"applied":[410],"analytical":[414],"expressions":[415],"One":[420],"strategy":[427],"using":[429],"again":[430],"conformal":[432],"model":[433],"spatial":[436],"algebra.":[438],"To":[439,463],"sum":[440],"up,":[441],"Ph.D":[443],"rigorous":[447],"two":[451],"above-mentioned":[452],"illustrate":[464],"results":[467],"introduced":[468],"memory,":[472],"examples":[473],"end":[478],"chapters.":[483],"La":[484,704],"cinem\u00e1tica":[485,518,674,693,708,733,833],"es":[486,653,742,772,922],"una":[487,538,605,632,648,677,762,808,923],"rama":[488],"de":[489,497,502,523,540,559,565,585,672,706,723,768,777,786,813,821,846,849,866,869,871,882,909,914,919,944,973,976],"la":[490,517,521,673,687,692,707,718,732,769,775,819,832,844,937,964,966],"mec\u00e1nica":[491],"cl\u00e1sica":[492],"que":[493,508,552,639,715,728,752,817,873],"describe":[494],"el":[495,554,578,640,713,721,740,799,803,811,880,928],"movimiento":[496,555],"puntos,":[498],"cuerpos":[499,503],"y":[500,618,658,679,720],"sistemas":[501],"sin":[504],"considerar":[505],"las":[506,634,656,698,759,787,826,851,890,911,916],"fuerzas":[507],"causan":[509],"dicho":[510],"movimiento.":[511],"Para":[512,957],"un":[513,583,624,643,744,791,847,867,876,941],"manipulador":[515],"serie,":[516],"consiste":[519,695],"en":[520,602,623,627,696,712,717,761,798,810,885,898,963],"descripci\u00f3n":[522],"su":[524,526,599,795],"geometr\u00eda,":[525],"posici\u00f3n,":[527],"velocidad":[528],"y/o":[529],"aceleraci\u00f3n.":[530],"Los":[531],"manipuladores":[533],"serie":[534,570],"est\u00e1n":[535],"dise\u00f1ados":[536],"como":[537,686,952],"secuencia":[539],"elementos":[541],"estructurales":[542],"r\u00edgidos,":[543],"llamados":[544],"eslabones,":[545],"conectados":[546],"entres":[547],"si":[548],"por":[549],"articulaciones":[550,852,891],"actuadas,":[551],"permiten":[553,756],"relativo":[556],"entre":[557],"pares":[558],"eslabones":[560],"consecutivos.":[561],"Dos":[562],"problemas":[563,947],"cinem\u00e1ticos":[564,948],"especial":[566],"relevancia":[567],"para":[568,614,638,666,729,747,794,824,854,879,902,955],"son:":[571],"Singularidades:":[573],"son":[574],"aquellas":[575],"configuraciones":[576,699,814,827],"donde":[577],"pierde":[580],"al":[581,603,784,971],"menos":[582,604],"grado":[584],"libertad":[586],"(GDL).":[587],"Esto":[588],"equivale":[589],"a:":[590],"El":[592,650,765],"no":[594,612,652],"puede":[595],"trasladar":[596],"ni":[597],"rotar":[598],"elemento":[600,682,690],"terminal":[601,683],"direcci\u00f3n.":[606],"Se":[608],"requieren":[609],"velocidades":[610,616],"articulares":[611],"acotadas":[613],"generar":[615],"lineales":[617],"angulares":[619],"finitas.":[620],"Ya":[621],"sea":[622],"sistema":[625],"teleoperado":[626],"tiempo":[628],"real":[629],"o":[630,668],"planificando":[631],"trayectoria,":[633],"singularidades":[635,657],"deben":[636],"manejarse":[637],"muestre":[642],"rendimiento":[644],"\u00f3ptimo":[645],"mientras":[646],"realiza":[647,863],"tarea.":[649],"objetivo":[651,741,766],"solo":[654],"identificar":[655],"sus":[659,857,977],"direcciones":[660],"singulares":[661],"asociadas,":[662],"sino":[663],"dise\u00f1ar":[664],"estrategias":[665,954],"evitarlas":[667],"manejarlas.":[669],"Problema":[671],"inversa:":[675],"dada":[676],"posici\u00f3n":[678],"orientaci\u00f3n":[680],"del":[681,689,815,931],"(tambi\u00e9n":[684],"conocida":[685],"terminal),":[691],"inversa":[694,709,734],"obtener":[697,757,910],"asociadas":[700],"dicha":[702],"importancia":[705],"se":[710,789,838,862],"basa":[711],"papel":[714],"juega":[716],"programaci\u00f3n":[719],"serie.":[725],"Adem\u00e1s,":[726,802],"dado":[727],"cada":[730,974],"tiene":[735],"hasta":[736],"diecis\u00e9is":[737],"soluciones":[738,760,884],"diferentes,":[739],"encontrar":[743],"m\u00e9todo":[745,793],"cerrado":[746],"resolver":[748],"este":[749],"problema,":[750],"ya":[751],"los":[753,835,945,959],"m\u00e9todos":[754,897,921],"cerrados":[755],"todas":[758,915],"forma":[763,886,899],"compacta.":[764],"principal":[767],"tesis":[770,938],"doctoral":[771,939],"contribuir":[773],"soluci\u00f3n":[776],"ambos":[778],"problemas.":[779],"En":[780,935],"con":[782],"respecto":[783,830],"problema":[785],"singularidades,":[788],"presenta":[790],"nuevo":[792],"identificaci\u00f3n":[796],"basado":[797],"\u00e1lgebra":[800,804,932],"geom\u00e9trica.":[801],"geom\u00e9trica":[805,933],"permite":[806,818],"definir":[807],"distancia":[809],"espacio":[812,870],"definici\u00f3n":[820],"distintos":[822],"algoritmos":[823],"evitar":[825],"singulares.":[828],"Con":[829],"inversa,":[834],"redundantes":[837,892],"reducen":[839],"no-redundantes":[842,904],"mediante":[843],"selecci\u00f3n":[845,861],"conjunto":[848],"articulaciones,":[850],"redundantes,":[853],"despu\u00e9s":[855],"parametrizar":[856],"variables":[858],"articulares.":[859],"Esta":[860],"trav\u00e9s":[865],"an\u00e1lisis":[868,942],"trabajo":[872],"tambi\u00e9n":[874],"proporciona":[875,940],"l\u00edmite":[877],"superior":[878],"n\u00famero":[881],"diferentes":[883,960],"cerrada.":[887],"Una":[888],"vez":[889],"han":[893],"sido":[894],"identificadas,":[895],"varios":[896,969],"cerrada":[900],"desarrollados":[901],"pueden":[905],"aplicarse":[906],"fin":[908],"expresiones":[912],"anal\u00edticas":[913],"soluciones.":[917],"Uno":[918],"dichos":[920],"nueva":[924],"estrategia":[925],"desarrollada":[926],"usando":[927],"modelo":[929],"conforme":[930],"tridimensional.":[934],"resumen,":[936],"riguroso":[943],"dos":[946],"mencionados":[949],"anteriormente,":[950],"as\u00ed":[951],"nuevas":[953],"resolverlos.":[956],"ilustrar":[958],"resultados":[961],"presentados":[962],"tesis,":[965],"memoria":[967],"contiene":[968],"ejemplos":[970],"final":[972],"uno":[975],"cap\u00edtulos.":[978]},"counts_by_year":[],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2020-03-23T00:00:00"}
