{"id":"W2079977197","doi":"10.1016/j.mechmachtheory.2006.04.004","title":"Singularity analysis of the Canadarm2","year":2006,"lang":"en","type":"article","venue":"Mechanism and Machine Theory","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":52,"is_retracted":false,"has_abstract":false,"ca_institutions":"University of Ontario Institute of Technology","funders":"","keywords":"Singularity; Reciprocity (cultural anthropology); Reciprocal; Control theory (sociology); Mathematics; Motion (physics); Space (punctuation); Serial manipulator; Screw theory; Link (geometry); Kinematics; Degenerate energy levels; Joint (building); Configuration space; Mathematical analysis; Topology (electrical circuits); Parallel manipulator; Computer science; Engineering; Structural engineering; Physics; Artificial intelligence; Classical mechanics; Combinatorics","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":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.0004399857,0.0008265454,0.0008429993,0.002114777,0.00148008,0.001686162,0.001479689,0.001468757,0.01177578],"category_scores_gemma":[0.002760113,0.0003149183,0.0006720216,0.00100024,0.00176107,0.001306995,0.001724899,0.001658884,0.001173145],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.001673087,"about_ca_system_score_gemma":0.001331949,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.01362518,"about_ca_topic_score_gemma":0.008493113,"domain_scores_codex":[0.999629,0.00006618545,0.0000104525,0.00006824291,0.0001538074,0.000072199],"domain_scores_gemma":[0.9993086,0.0001282592,0.00007436598,0.00005565421,0.0002860982,0.0001470176],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00005679903,0.00001835968,0.000272723,0.00004070633,0.00001219062,0.0002055361,0.00009368176,0.0115837,0.002306403,0.9758314,0.003308428,0.006270024],"study_design_scores_gemma":[0.00002427395,0.00005241357,0.001284942,0.00002882014,0.00001317845,0.0003851517,0.0001365959,0.3804448,0.001386171,0.6066136,0.009569005,0.00006107522],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.3099556,0.002151486,0.3518759,0.00252341,0.0008496192,0.0001326208,0.0005800183,0.000548664,0.3313828],"genre_scores_gemma":[0.9158792,0.000381886,0.01648915,0.0004432261,0.0002849,0.00004045086,0.0003255429,0.0002830851,0.06587261],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.01362518,"threshold_uncertainty_score":0.03939396,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.002895000045661721,"score_gpt":0.1573440015233711,"score_spread":0.1544490014777093,"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."}}