{"id":"W2321501099","doi":"10.1109/tro.2016.2516025","title":"Kinematically Redundant Spatial Parallel Mechanisms for Singularity Avoidance and Large Orientational Workspace","year":2016,"lang":"en","type":"article","venue":"IEEE Transactions on Robotics","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":133,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Natural Sciences and Engineering Research Council of Canada; Canada Research Chairs","keywords":"Workspace; Kinematics; Jacobian matrix and determinant; Gravitational singularity; Singularity; Computer science; Redundancy (engineering); Topology (electrical circuits); Geometry; Control theory (sociology); Mathematics; Robot; Artificial intelligence; Mathematical analysis; Classical mechanics; Physics","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":[0.0003225078,0.0006977012,0.0003357847,0.0005038564,0.0003489018,0.0003857919,0.0009277288,0.0003672277,0.002247335],"category_scores_gemma":[0.0005649304,0.0002940898,0.0004103184,0.0002622168,0.0005660642,0.0007546681,0.0009922624,0.0004125153,0.000579589],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001690047,"about_ca_system_score_gemma":0.0003612026,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001437422,"about_ca_topic_score_gemma":0.0002151563,"domain_scores_codex":[0.9998217,0.0000296773,0.00001250561,0.00003412255,0.00008119008,0.00002086638],"domain_scores_gemma":[0.9997411,0.00003070324,0.00008835043,0.00008235589,0.00003848585,0.00001905013],"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":[0.0001524578,0.00007495057,0.0008157468,0.0003382338,0.00007177162,0.0008093492,0.0002380446,0.2213058,0.2532611,0.33327,0.001221806,0.1884407],"study_design_scores_gemma":[0.0001596098,0.00132416,0.001755824,0.0001387148,0.0001101144,0.002396978,0.000117672,0.7158208,0.06469265,0.1624746,0.05091346,0.00009538184],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.03961853,0.0002383032,0.9532817,0.00005312712,0.00005366936,0.00004371631,0.00001879347,0.0003580447,0.006334133],"genre_scores_gemma":[0.6154732,0.0003994733,0.3797507,0.00003921771,0.00004535756,0.000140864,0.00006083258,0.00005848482,0.004031876],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002247335,"threshold_uncertainty_score":0.007518053,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.009910971664529889,"score_gpt":0.2201711727744329,"score_spread":0.210260201109903,"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."}}