{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,2]],"date-time":"2026-01-02T07:47:56Z","timestamp":1767340076759,"version":"3.40.3"},"publisher-location":"Cham","reference-count":12,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783031081392"},{"type":"electronic","value":"9783031081408"}],"license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022]]},"DOI":"10.1007\/978-3-031-08140-8_45","type":"book-chapter","created":{"date-parts":[[2022,6,17]],"date-time":"2022-06-17T14:08:38Z","timestamp":1655474918000},"page":"418-425","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Degenerate Cases in\u00a0the\u00a0Inverse Kinematics Problem of\u00a0a\u00a0General 6R Serial Robot"],"prefix":"10.1007","author":[{"given":"Aritra","family":"Das","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Anirban","family":"Nag","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Subir Kumar","family":"Saha","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,6,18]]},"reference":[{"key":"45_CR1","unstructured":"Chittawadigi, R., Saha, S.K.: Roboanalyzer v7.5 (2009). http:\/\/www.roboanalyzer.com"},{"key":"45_CR2","doi-asserted-by":"publisher","first-page":"215","DOI":"10.1115\/1.4011045","volume":"22","author":"J Denavit","year":"1955","unstructured":"Denavit, J., Hartenberg, R.S.: A kinematic notation for lower-pair mechanisms based on matrices. J. Appl. Mech. 22, 215\u2013221 (1955)","journal-title":"J. Appl. Mech."},{"key":"45_CR3","volume-title":"Matrix Computations","author":"GH Golub","year":"2012","unstructured":"Golub, G.H., Van Loan, C.F.: Matrix Computations, 3rd edn. Johns Hopkins University Press, Baltimore, USA (2012)","edition":"3"},{"issue":"4","key":"45_CR4","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1093\/imanum\/20.4.499","volume":"20","author":"NJ Higham","year":"2000","unstructured":"Higham, N.J., Kim, H.M.: Numerical analysis of a quadratic matrix equation. IMA J. Numer. Anal. 20(4), 499\u2013519 (2000). https:\/\/doi.org\/10.1093\/imanum\/20.4.499","journal-title":"IMA J. Numer. Anal."},{"key":"45_CR5","doi-asserted-by":"crossref","unstructured":"Manocha, D., Canny, J.F.: Real time inverse kinematics for general 6R manipulators. In: ICRA, pp. 383\u2013389 (1992)","DOI":"10.1109\/ROBOT.1992.220309"},{"key":"45_CR6","doi-asserted-by":"crossref","unstructured":"Manocha, D., Zhu, Y.: A fast algorithm and system for the inverse kinematics of general serial manipulators. In: Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp. 3348\u20133353. IEEE (1994)","DOI":"10.1109\/ROBOT.1994.351055"},{"key":"45_CR7","unstructured":"MATLAB: version 9.10.0 (R2021a). The MathWorks Inc., Natick, Massachusetts (2021)"},{"issue":"1","key":"45_CR8","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1115\/1.2919373","volume":"116","author":"C Mavroidis","year":"1994","unstructured":"Mavroidis, C., Roth, B.: Structural parameters which reduce the number of manipulator configurations. J. Mech. Des. 116(1), 3\u201310 (1994). https:\/\/doi.org\/10.1115\/1.2919373","journal-title":"J. Mech. Des."},{"issue":"3","key":"45_CR9","doi-asserted-by":"publisher","first-page":"406","DOI":"10.1115\/1.2926566","volume":"114","author":"V Murthy","year":"1992","unstructured":"Murthy, V., Waldron, K.J.: Position kinematics of the generalized lobster arm and its series-parallel dual. J. Mech. Des. 114(3), 406\u2013413 (1992). https:\/\/doi.org\/10.1115\/1.2926566","journal-title":"J. Mech. Des."},{"key":"45_CR10","doi-asserted-by":"publisher","unstructured":"Nag, A., Safar, V., Bandyopadhyay, S.: A uniform geometric-algebraic framework for the forward kinematic analysis of 6-6 Stewart platform manipulators of various architectures and other related 6-6 spatial manipulators. Mech. Mach. Theor. 155, 104090 (2021). https:\/\/doi.org\/10.1016\/j.mechmachtheory.2020.104090","DOI":"10.1016\/j.mechmachtheory.2020.104090"},{"key":"45_CR11","unstructured":"Raghavan, M., Roth, B.: A general solution for the inverse kinematics of all series chains. In: Proceedings of the 8th CISM-IFTOMM Symposium on Robots and Manipulators (1990)"},{"issue":"2","key":"45_CR12","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1115\/1.3258708","volume":"107","author":"LW Tsai","year":"1985","unstructured":"Tsai, L.W., Morgan, A.P.: Solving the kinematics of the most general six- and five-degree-of-freedom manipulators by continuation methods. J. Mech. Trans. Autom. Des. 107(2), 189\u2013200 (1985). https:\/\/doi.org\/10.1115\/1.3258708","journal-title":"J. Mech. Trans. Autom. Des."}],"container-title":["Springer Proceedings in Advanced Robotics","Advances in Robot Kinematics 2022"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-031-08140-8_45","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,27]],"date-time":"2024-09-27T03:56:14Z","timestamp":1727409374000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-031-08140-8_45"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"ISBN":["9783031081392","9783031081408"],"references-count":12,"URL":"https:\/\/doi.org\/10.1007\/978-3-031-08140-8_45","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2022]]},"assertion":[{"value":"18 June 2022","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ARK","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Symposium on Advances in Robot Kinematics","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Bilbao","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Spain","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2022","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"26 June 2022","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"30 June 2022","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"ark2022","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"https:\/\/ark2022.com\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}