{"id":"W2095636070","doi":"10.1109/robot.1993.292021","title":"The kinematic synthesis of serial manipulators with a prescribed Jacobian","year":2002,"lang":"en","type":"article","venue":"","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":14,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University","funders":"McGill University","keywords":"Jacobian matrix and determinant; Kinematics; Serial manipulator; Representation (politics); Computer science; Stewart platform; Manipulator (device); Matrix (chemical analysis); Control theory (sociology); Mathematics; Artificial intelligence; Algorithm; Parallel manipulator; Robot; Applied mathematics","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":[0.0003215585,0.0004849175,0.0003104808,0.0003308355,0.0002645227,0.0004879327,0.0003276184,0.0002529945,0.002314184],"category_scores_gemma":[0.0006036538,0.0002818083,0.0004001738,0.0003252432,0.0004348241,0.0004318891,0.0004086453,0.000263225,0.0007154666],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.000249713,"about_ca_system_score_gemma":0.0003845599,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000548232,"about_ca_topic_score_gemma":0.0005611564,"domain_scores_codex":[0.9998066,0.00003198958,0.00001983425,0.00004326572,0.00008729636,0.00001116223],"domain_scores_gemma":[0.9998523,0.00002784216,0.0000305769,0.00003966818,0.0000434947,0.000005997619],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"theoretical_or_conceptual","study_design_scores_codex":[0.00009298493,0.00004527412,0.000322636,0.0003922925,0.00004675255,0.0002934398,0.0003199848,0.29585,0.1315841,0.2731783,0.003158364,0.2947159],"study_design_scores_gemma":[0.00008406971,0.0004240609,0.0004816458,0.00008861292,0.00005447977,0.0004422149,0.00006812759,0.751297,0.07275327,0.1079401,0.06631172,0.00005467808],"study_design_candidate":"theoretical_or_conceptual","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01051247,0.000169553,0.9816545,0.00003573237,0.00005207922,0.00002970895,0.00003061179,0.0002713059,0.007243883],"genre_scores_gemma":[0.3007501,0.0007687512,0.6817618,0.00005813498,0.00008000225,0.0001516176,0.0002184077,0.000146309,0.01606487],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002314184,"threshold_uncertainty_score":0.00774169,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.00859333980301857,"score_gpt":0.1550907062493458,"score_spread":0.1464973664463272,"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."}}