{"id":"W2173314574","doi":"10.1109/tmech.2003.820005","title":"Singularity analysis of three-legged, six-dof platform manipulators with urs legs","year":2003,"lang":"en","type":"article","venue":"IEEE/ASME Transactions on Mechatronics","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":33,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University","funders":"Japan Society for the Promotion of Science; Singapore Institute of Manufacturing Technology","keywords":"Revolute joint; Jacobian matrix and determinant; Kinematics; Inverse kinematics; Singularity; Actuator; Parallel manipulator; Stewart platform; Control theory (sociology); Mathematics; Universal joint; Serial manipulator; Computer science; Engineering; Mathematical analysis; Robot; Mechanical engineering; Artificial intelligence; Applied mathematics; Physics; Control (management); Classical mechanics","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":[0.0002650427,0.0003549666,0.0003638836,0.0004960797,0.0002194747,0.0003600509,0.000350868,0.0003098226,0.0008924017],"category_scores_gemma":[0.0007866413,0.0001391553,0.000373378,0.0002196811,0.0004587047,0.0004255234,0.0004314567,0.0002694329,0.000186599],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001876372,"about_ca_system_score_gemma":0.0002044239,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0005291399,"about_ca_topic_score_gemma":0.0002946019,"domain_scores_codex":[0.9998921,0.0000210444,0.000006653348,0.00001782203,0.00004785101,0.00001448538],"domain_scores_gemma":[0.9997664,0.00005699539,0.00007798836,0.00002197634,0.00004993449,0.00002674201],"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":[0.0001858415,0.00008075473,0.004193525,0.0001876707,0.00007911827,0.002456023,0.0004692259,0.6423689,0.05879482,0.2378818,0.001396285,0.05190593],"study_design_scores_gemma":[0.0000114756,0.0000917561,0.001083937,0.000007976878,0.0000063437,0.0002927293,0.00004136111,0.9569577,0.001349346,0.03916746,0.0009773346,0.00001255145],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.3202091,0.0003238958,0.6740525,0.0000611952,0.00002393942,0.00003137398,0.00004614188,0.00009786802,0.005153966],"genre_scores_gemma":[0.9656113,0.0002088335,0.03159679,0.000015837,0.00001962454,0.00002304635,0.00007880929,0.00001886219,0.002426989],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.0008924017,"threshold_uncertainty_score":0.002985358,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01452356195309116,"score_gpt":0.2022431883366021,"score_spread":0.1877196263835109,"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."}}