{"id":"W2063904388","doi":"10.1115/detc2011-47884","title":"Solving the Forward Kinematic Problem of 4-DOF Parallel Mechanisms (3T1R) With Identical Limb Structures and Revolute Actuators Using the Linear Implicitization Algorithm","year":2011,"lang":"en","type":"article","venue":"","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":8,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Natural Sciences and Engineering Research Council of Canada; Canada Research Chairs","keywords":"Revolute joint; Kinematics; Constraint (computer-aided design); Kinematic diagram; Mathematics; Kinematic chain; Quaternion; Forward kinematics; Kinematics equations; Screw theory; Actuator; Algorithm; Control theory (sociology); Rotation (mathematics); Parallel manipulator; Computer science; Topology (electrical circuits); Inverse kinematics; Geometry; Robot kinematics; Artificial intelligence; Robot; Mobile robot; Classical mechanics; Physics","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0006927348,0.0005770629,0.0006951195,0.0003212586,0.0003147961,0.0005499583,0.0006498676,0.0007363833,0.002446722],"category_scores_gemma":[0.00117003,0.0003733574,0.0006792157,0.0002901733,0.0006220636,0.0007125,0.0005660261,0.0006051245,0.0004437822],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000251524,"about_ca_system_score_gemma":0.001053606,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.001646768,"about_ca_topic_score_gemma":0.001279537,"domain_scores_codex":[0.9998139,0.00005176607,0.00001175232,0.00003743649,0.00006347884,0.00002160503],"domain_scores_gemma":[0.9996133,0.000228249,0.00005855154,0.00003420066,0.00005754492,0.000008131537],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00008461565,0.00004553089,0.000739356,0.0004900077,0.00006736524,0.0003464186,0.0003217781,0.7402204,0.02421351,0.07262737,0.00072013,0.1601236],"study_design_scores_gemma":[0.00004929659,0.0001193595,0.0001697865,0.00002133841,0.00001735054,0.0001477721,0.00008173096,0.9684427,0.005268269,0.02242421,0.003242962,0.00001531396],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.0113678,0.00003475904,0.9874104,0.00003501523,0.000006046261,0.00002195299,0.000009035817,0.0000457684,0.001069187],"genre_scores_gemma":[0.2070134,0.0001634606,0.7895172,0.00002428869,0.00001659197,0.0001557112,0.00006634466,0.00006958465,0.002973293],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002446722,"threshold_uncertainty_score":0.008185089,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01453482134931744,"score_gpt":0.2084449895766741,"score_spread":0.1939101682273567,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}