{"id":"W2070929974","doi":"10.1108/01439910810893626","title":"The joint‐limits and singularity avoidance in robotic welding","year":2008,"lang":"en","type":"article","venue":"Industrial Robot the international journal of robotics research and application","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":101,"is_retracted":false,"has_abstract":true,"ca_institutions":"Polytechnique Montréal","funders":"","keywords":"Redundancy (engineering); Welding; Kinematics; Computer science; Rotation (mathematics); Robot; Workspace; Singularity; Singular value decomposition; Subspace topology; Artificial intelligence; Control theory (sociology); Computer vision; Algorithm; Mathematics; Mechanical engineering; Engineering; Geometry","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.001716784,0.0001037672,0.0001587538,0.000157933,0.0003103769,0.0001699175,0.0004560306,0.0001042664,0.000001613078],"category_scores_gemma":[0.0004129649,0.00006820715,0.00003482531,0.0002244993,0.0002339428,0.0001512133,0.00009398948,0.0009095531,0.000002204676],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001462391,"about_ca_system_score_gemma":0.00008269692,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00003914011,"about_ca_topic_score_gemma":0.0000479211,"domain_scores_codex":[0.9983936,0.00008456505,0.0004568852,0.0001180623,0.0006990734,0.0002478471],"domain_scores_gemma":[0.9986951,0.0005833529,0.0001173151,0.0001499004,0.0003553916,0.00009898822],"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":[0.00006826555,0.00004435155,0.0009557107,0.000005415454,0.0000552376,0.00002506082,0.0001435883,0.9523618,0.002974096,0.0264288,0.0004619427,0.01647569],"study_design_scores_gemma":[0.002316067,0.0003218157,0.006900149,0.0002556471,0.00002207504,0.00101347,0.0005169369,0.9249621,0.002193701,0.05955683,0.001628191,0.0003130001],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.2063292,0.002198175,0.7723326,0.01632832,0.001527629,0.0007450788,0.000003892367,0.00003644327,0.000498717],"genre_scores_gemma":[0.9900584,0.003329184,0.005910808,0.00002600511,0.0005651508,0.000009785911,0.000001844698,0.00001690991,0.00008186613],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.7837293,"threshold_uncertainty_score":0.3951606,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.1099685397513878,"score_gpt":0.3161402736472226,"score_spread":0.2061717338958348,"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."}}