{"id":"W2086145757","doi":"10.1016/j.mechmachtheory.2014.10.008","title":"Reconfigurable mass parameters to cross direct kinematic singularities in parallel manipulators","year":2014,"lang":"en","type":"article","venue":"Mechanism and Machine Theory","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":19,"is_retracted":false,"has_abstract":false,"ca_institutions":"Université de Moncton; University of New Brunswick","funders":"","keywords":"Kinematics; Parallel manipulator; Singularity; Virtual work; Gravitational singularity; Trajectory; Control theory (sociology); Planar; Serial manipulator; Center of mass (relativistic); Work (physics); Computer science; Control engineering; Mathematics; Control (management); Engineering; Classical mechanics; Artificial intelligence; Geometry; Mechanical engineering; Mathematical analysis; Physics; Structural engineering","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":[0.0004023561,0.0006568193,0.0003678483,0.000598961,0.0003776642,0.0007950258,0.0006957998,0.0006343763,0.002651317],"category_scores_gemma":[0.002536051,0.0003389237,0.000272653,0.0003669649,0.001096161,0.001262646,0.001415482,0.0009358466,0.000426859],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002275307,"about_ca_system_score_gemma":0.0001361045,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001128455,"about_ca_topic_score_gemma":0.0001723553,"domain_scores_codex":[0.9998431,0.00003994898,0.00001117778,0.00003701551,0.00005285979,0.00001592444],"domain_scores_gemma":[0.9995812,0.0001342369,0.00008480154,0.0001167149,0.00005005439,0.00003300508],"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":[0.0005191255,0.0002510775,0.001471249,0.0002387132,0.0000599485,0.0008550089,0.0005973529,0.2979607,0.08789281,0.3995809,0.00192951,0.2086436],"study_design_scores_gemma":[0.0001128133,0.0006147484,0.001107393,0.00006194766,0.00003556669,0.0009216135,0.0002038709,0.6232954,0.02382868,0.3444257,0.005332268,0.00006008823],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.2706167,0.0004209842,0.7072096,0.0002154245,0.0001419931,0.0000655463,0.00002161906,0.0004151143,0.02089311],"genre_scores_gemma":[0.9443381,0.0001395589,0.05037983,0.00004519865,0.000029533,0.00003322407,0.00001601859,0.0001446996,0.004873936],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002651317,"threshold_uncertainty_score":0.008869469,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.009044621123797985,"score_gpt":0.2044841736412539,"score_spread":0.195439552517456,"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."}}