{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T10:43:00Z","timestamp":1697884980431},"reference-count":11,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6980,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1988,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article is the first of three companion papers which introduce some novel concepts useful in the kinetmatic design, analysis, motion planning, control, and performance evaluation of serial manipulators. Here an efficient methodology is developed to classify the special configurations of an <jats:italic>N<\/jats:italic> DOF manipulator. This classification yields hyper\u2010surfaces in the joint space on each of which the manipulator loses a certain number of its degrees of freedom. The efficiency of the methodology is based on a theorem proved in Appendix B and the utilization of the minimal reference frames. These frames are obtained and tabulated for all possible types of manipulators. Furthermore the adaptability of a manipulator to a common control algorithm is quantified via an index. The numerical values of these indices are listed for all types of manipulators.<\/jats:p>","DOI":"10.1002\/rob.4620050103","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T06:49:29Z","timestamp":1183704569000},"page":"13-30","source":"Crossref","is-referenced-by-count":5,"title":["Hypersurfaces of special configurations of serial manipulators and related concepts. part I: Theory and development of the hypersurfaces of special configurations"],"prefix":"10.1002","volume":"5","author":[{"given":"Resit","family":"Soylu","sequence":"first","affiliation":[]},{"given":"Joseph","family":"Duffy","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300404"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(82)90042-8"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258706"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258707"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258714"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700009358"},{"key":"e_1_2_1_8_2","first-page":"243","volume-title":"Recent Advances in Robotics","author":"Lipkin H.","year":"1985"},{"key":"e_1_2_1_9_2","volume-title":"Analysis of Mechanisms and Robot Manipulators","author":"Duffy J.","year":"1980"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"M. S. C.Yuan andF.Freudenstein \u201cKinematic Analysis of Spatial Mechanisms by Means of Screw Coordinates \u201d Trans. ASME J. of Eng. for Industry Feb 1971 61\u201373.","DOI":"10.1115\/1.3427918"},{"key":"e_1_2_1_11_2","first-page":"695","volume-title":"Robotics Research","author":"Sugimoto K.","year":"1984"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(82)90025-8"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620050103","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620050103","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T00:21:01Z","timestamp":1697847661000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620050103"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1988,2]]},"references-count":11,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1988,2]]}},"alternative-id":["10.1002\/rob.4620050103"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620050103","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1988,2]]}}}