{"id":"W2131762733","doi":"10.1115/detc2002/mech-34312","title":"Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms","year":2002,"lang":"en","type":"article","venue":"","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":136,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"","keywords":"Singularity; Gravitational singularity; Jacobian matrix and determinant; Workspace; Kinematics; Parallel manipulator; Control theory (sociology); Planar; Mathematics; Screw theory; Computer science; Topology (electrical circuits); Mathematical analysis; Applied mathematics; Classical mechanics; Robot; Artificial intelligence; Physics","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":[0.0001411617,0.0001002621,0.0002567377,0.0001045803,0.00002286758,0.00001950548,0.00006764824,0.00006203523,0.0004861657],"category_scores_gemma":[0.0000215885,0.00008563422,0.00005715862,0.0002502782,0.00001835709,0.00004031599,0.00001869603,0.00005338434,0.000006576624],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00000930541,"about_ca_system_score_gemma":0.000001707004,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00001128047,"about_ca_topic_score_gemma":0.00000718571,"domain_scores_codex":[0.9993809,0.00001689629,0.0002279725,0.0001112017,0.0001239234,0.0001390564],"domain_scores_gemma":[0.9996469,0.00004970191,0.00002257381,0.0001871643,0.00002364426,0.0000700363],"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":[0.000002091083,0.00003436978,0.00001516725,0.00005712664,0.0002962027,0.000005373811,0.00009313154,0.691597,0.005784873,0.3010072,0.00005772745,0.001049662],"study_design_scores_gemma":[0.0001076002,0.00003170453,0.0001156951,0.000005628349,0.0001864364,0.000003316847,0.00001692507,0.9579623,0.000390974,0.04107856,0.000001505004,0.00009938751],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.0006448276,0.00005009412,0.9970289,0.00003437835,0.00003076964,0.00009449335,0.000001456103,0.00009419173,0.002020909],"genre_scores_gemma":[0.150394,0.00005667876,0.8493273,0.00001740585,0.000004307282,0.000002950679,0.000001265787,0.00001027175,0.0001857949],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.2663652,"threshold_uncertainty_score":0.5323173,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01783241835321536,"score_gpt":0.1942628636770502,"score_spread":0.1764304453238348,"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."}}