{"id":"W2124043501","doi":"10.1109/robot.1990.126088","title":"A singularities prevention approach for redundant robot manipulators","year":2002,"lang":"en","type":"article","venue":"","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":44,"is_retracted":false,"has_abstract":true,"ca_institutions":"University of Waterloo","funders":"","keywords":"Jacobian matrix and determinant; Gravitational singularity; Robot manipulator; Rank (graph theory); Constraint (computer-aided design); Singularity; Robot; Path (computing); Manipulator (device); Mathematical optimization; Computer science; Control theory (sociology); Trajectory; Mathematics; Artificial intelligence; Applied mathematics; Control (management)","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":[0.00005440388,0.00008658343,0.00009852197,0.00003669582,0.0000443139,0.0000349147,0.00005607111,0.00005622642,0.0001122228],"category_scores_gemma":[0.000005365136,0.00008179196,0.00006160756,0.00004665644,0.000007185296,0.0000654244,0.000008534569,0.00004093112,0.000007120316],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00002654882,"about_ca_system_score_gemma":0.000001447221,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00000283606,"about_ca_topic_score_gemma":0.000002104857,"domain_scores_codex":[0.9995397,0.000003915856,0.00012876,0.0001007021,0.00006732763,0.0001596232],"domain_scores_gemma":[0.9998119,0.000008279709,0.00001042728,0.0001201692,0.00001234237,0.00003683187],"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":[0.000001566107,0.00004752795,0.000007964963,0.0001407998,0.00003080891,6.641437e-7,0.0001086691,0.847523,0.0006125648,0.1444202,0.001392306,0.005713932],"study_design_scores_gemma":[0.0001565232,0.00002993866,0.00001374368,0.000007210515,0.00001225739,0.000006198843,0.00007473707,0.9941455,0.0002056485,0.005007704,0.0002254994,0.0001150551],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.0007905901,0.0001061997,0.9799307,0.00001369349,0.0001686827,0.0002118682,0.000001387641,0.0002641382,0.01851275],"genre_scores_gemma":[0.1663417,0.00002161852,0.826355,0.00001742105,0.0000680775,0.00004134593,0.00001613768,0.00003263916,0.007106096],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.1655511,"threshold_uncertainty_score":0.333538,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.03697849638755754,"score_gpt":0.2080664933850025,"score_spread":0.1710879969974449,"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."}}