{"id":"W2799909211","doi":"10.1139/tcsme-2005-0045","title":"KINEMATIC INVERSION OF FUNCTIONALLY-REDUNDANT SERIAL MANIPULATORS: APPLICATION TO ARC-WELDING","year":2005,"lang":"en","type":"article","venue":"Transactions of the Canadian Society for Mechanical Engineering","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":23,"is_retracted":false,"has_abstract":true,"ca_institutions":"Polytechnique Montréal","funders":"","keywords":"Serial manipulator; Jacobian matrix and determinant; Redundancy (engineering); Kinematics; Computer science; Linear subspace; Degrees of freedom (physics and chemistry); Control theory (sociology); Algorithm; Artificial intelligence; Robot; Mathematics; Parallel manipulator; Geometry; Applied mathematics","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":true,"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":[0.0003206398,0.0005680039,0.0003761053,0.0002713861,0.0001864173,0.0002317507,0.0005516065,0.000289461,0.00222029],"category_scores_gemma":[0.0006734809,0.0002544891,0.000312538,0.0003133086,0.0003104252,0.0003724583,0.0005377185,0.0004079045,0.0003820345],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001281769,"about_ca_system_score_gemma":0.00026102,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0007258896,"about_ca_topic_score_gemma":0.000660977,"domain_scores_codex":[0.9998566,0.00002850737,0.00000806312,0.00002185728,0.0000720379,0.0000129807],"domain_scores_gemma":[0.9998662,0.00003912485,0.00002399784,0.00002538719,0.00003806372,0.000007222298],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0001817724,0.00007418577,0.0008976801,0.0003047514,0.00004685724,0.0005715968,0.0003693586,0.3813965,0.09652442,0.06421713,0.001166974,0.4542487],"study_design_scores_gemma":[0.00003260332,0.0001759833,0.0003710433,0.00001825935,0.00001464986,0.0004266304,0.00006117647,0.9567946,0.02230347,0.01201589,0.007765158,0.00002040253],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.01946048,0.00008027893,0.9779273,0.00003238962,0.00001916386,0.00001744038,0.00001220996,0.000201574,0.002249114],"genre_scores_gemma":[0.4053793,0.0002488887,0.5905472,0.00002468337,0.00002523388,0.00004214497,0.00007485718,0.00008915982,0.003568617],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.00222029,"threshold_uncertainty_score":0.007427633,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.00816021641389975,"score_gpt":0.1881686176697836,"score_spread":0.1800084012558839,"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."}}