{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,26]],"date-time":"2025-03-26T05:45:45Z","timestamp":1742967945524,"version":"3.40.3"},"publisher-location":"Cham","reference-count":13,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030666446"},{"type":"electronic","value":"9783030666453"}],"license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2020]]},"DOI":"10.1007\/978-3-030-66645-3_32","type":"book-chapter","created":{"date-parts":[[2021,1,8]],"date-time":"2021-01-08T16:22:45Z","timestamp":1610122965000},"page":"374-386","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Determination of Singularity Occurrence and Characteristic Analysis of Dual 6-DOF Manipulator Using Manipulability and Manipulability Ellipsoid"],"prefix":"10.1007","author":[{"given":"Jong-Hak","family":"Lee","sequence":"first","affiliation":[]},{"given":"Jin-Uk","family":"Bang","sequence":"additional","affiliation":[]},{"given":"Jang-Myung","family":"Lee","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,1,9]]},"reference":[{"key":"32_CR1","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"195","DOI":"10.1007\/978-3-319-97589-4_17","volume-title":"Intelligent Robotics and Applications","author":"D-E Kim","year":"2018","unstructured":"Kim, D.-E., Park, D.-J., Park, J.-H., Lee, J.-M.: Collision and singularity avoidance path planning of 6-DOF dual-arm manipulator. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds.) ICIRA 2018. LNCS (LNAI), vol. 10985, pp. 195\u2013207. Springer, Cham (2018). https:\/\/doi.org\/10.1007\/978-3-319-97589-4_17"},{"key":"32_CR2","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1007\/978-3-030-27535-8_45","volume-title":"Intelligent Robotics and Applications","author":"X Liu","year":"2019","unstructured":"Liu, X., Zhao, F., Liu, B., Mei, X.: Multi-point interaction force estimation for robot manipulators with flexible joints using joint torque sensors. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds.) ICIRA 2019. LNCS (LNAI), vol. 11742, pp. 499\u2013508. Springer, Cham (2019). https:\/\/doi.org\/10.1007\/978-3-030-27535-8_45"},{"key":"32_CR3","series-title":"Lecture Notes in Computer Science (Lecture Notes in Artificial Intelligence)","doi-asserted-by":"publisher","first-page":"48","DOI":"10.1007\/978-3-319-65292-4_5","volume-title":"Intelligent Robotics and Applications","author":"Y Xu","year":"2017","unstructured":"Xu, Y., Hu, J., Zhang, D., Yao, J., Zhao, Y.: A five-degree-of-freedom hybrid manipulator for machining of complex curved surface. In: Huang, Y.A., Wu, H., Liu, H., Yin, Z. (eds.) ICIRA 2017. LNCS (LNAI), vol. 10463, pp. 48\u201358. Springer, Cham (2017). https:\/\/doi.org\/10.1007\/978-3-319-65292-4_5"},{"key":"32_CR4","doi-asserted-by":"publisher","first-page":"26753","DOI":"10.1109\/ACCESS.2018.2834978","volume":"6","author":"W Zheng","year":"2018","unstructured":"Zheng, W., Chen, M.: Tracking control of manipulator based on high-order disturbance observer. IEEE Access 6, 26753\u201326764 (2018)","journal-title":"IEEE Access"},{"key":"32_CR5","unstructured":"Reboucas Filho, P.P., Da Silva, S.P.P., Praxedes, V.N., Hemanth Jude, De Albuquerque V.H.C.: Control of singularity trajectory tracking for robotic manipulator by genetic algorithms. J. Comput. Sci. 30, 55\u201364 (2019)"},{"key":"32_CR6","unstructured":"Yoshikawa, T.: Analysis and control of robot manipulators with redundancy. In: Robotic Research. The First International Syposium, pp. 735\u2013747 (1984)"},{"issue":"1","key":"32_CR7","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1115\/1.2121740","volume":"128","author":"JP Merlet","year":"2005","unstructured":"Merlet, J.P.: Jacobian, manipulability, condition number, and accuracy of parallel robots. ASME J. Mech. Des. 128(1), 199\u2013206 (2005)","journal-title":"ASME J. Mech. Des."},{"key":"32_CR8","doi-asserted-by":"crossref","unstructured":"Vahrenkamp, N., Asfour, T., Metta, G., Sandini, G., Dillmann, R.: Manipulability analysis. In: 2012 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, pp. 568\u2013573 (2012)","DOI":"10.1109\/HUMANOIDS.2012.6651576"},{"issue":"4","key":"32_CR9","doi-asserted-by":"publisher","first-page":"381","DOI":"10.1017\/S0263574799002106","volume":"18","author":"P Chiacchio","year":"2000","unstructured":"Chiacchio, P.: A new dynamic manipulability ellipsoid for redundant manipulators. Robotica 18(4), 381\u2013387 (2000)","journal-title":"Robotica"},{"key":"32_CR10","doi-asserted-by":"crossref","unstructured":"Rozo, L., Jaquier, N., Calinon, S., Caldwell, D.G.: Learning manipulability ellipsoids for task compatibility in robot manipulation. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Vancouver, BC, pp. 3183\u20133189 (2017)","DOI":"10.1109\/IROS.2017.8206150"},{"issue":"3","key":"32_CR11","doi-asserted-by":"publisher","first-page":"398","DOI":"10.1109\/70.585902","volume":"13","author":"S Chiaverini","year":"1997","unstructured":"Chiaverini, S.: Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators. IEEE Trans. Robot. Autom. 13(3), 398\u2013410 (1997)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"32_CR12","unstructured":"Nakai, K., et al.: Control of robot in singular configurations for human-robot coordination. In: Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication. IEEE (2002)"},{"key":"32_CR13","unstructured":"Robohub Homepage, https:\/\/robohub.org\/3-types-of-robot-singularities-and-how-to-avoid-them. Accessed 27 Sept 2020"}],"container-title":["Lecture Notes in Computer Science","Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-66645-3_32","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,9]],"date-time":"2021-01-09T10:32:44Z","timestamp":1610188364000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-030-66645-3_32"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"ISBN":["9783030666446","9783030666453"],"references-count":13,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-66645-3_32","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2020]]},"assertion":[{"value":"9 January 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIRA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Robotics and Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Kuala Lumpur","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Malaysia","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2020","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"5 November 2020","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"7 November 2020","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"13","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icira2020","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/icira2020.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Double-blind","order":1,"name":"type","label":"Type","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Microsoft CMT","order":2,"name":"conference_management_system","label":"Conference Management System","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"66","order":3,"name":"number_of_submissions_sent_for_review","label":"Number of Submissions Sent for Review","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"45","order":4,"name":"number_of_full_papers_accepted","label":"Number of Full Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3","order":5,"name":"number_of_short_papers_accepted","label":"Number of Short Papers Accepted","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"68% - The value is computed by the equation \"Number of Full Papers Accepted \/ Number of Submissions Sent for Review * 100\" and then rounded to a whole number.","order":6,"name":"acceptance_rate_of_full_papers","label":"Acceptance Rate of Full Papers","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"4","order":7,"name":"average_number_of_reviews_per_paper","label":"Average Number of Reviews per Paper","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"3","order":8,"name":"average_number_of_papers_per_reviewer","label":"Average Number of Papers per Reviewer","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Yes","order":9,"name":"external_reviewers_involved","label":"External Reviewers Involved","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}},{"value":"Due to the Corona pandemic ICIRA 2020 was held as a virtual event.","order":10,"name":"additional_info_on_review_process","label":"Additional Info on Review Process","group":{"name":"ConfEventPeerReviewInformation","label":"Peer Review Information (provided by the conference organizers)"}}]}}