{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,5]],"date-time":"2024-09-05T21:07:10Z","timestamp":1725570430857},"publisher-location":"Berlin, Heidelberg","reference-count":29,"publisher":"Springer Berlin Heidelberg","isbn-type":[{"type":"print","value":"9783642167843"},{"type":"electronic","value":"9783642167850"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2010]]},"DOI":"10.1007\/978-3-642-16785-0_5","type":"book-chapter","created":{"date-parts":[[2010,11,29]],"date-time":"2010-11-29T05:36:06Z","timestamp":1291008966000},"page":"77-92","source":"Crossref","is-referenced-by-count":4,"title":["Detection and Avoidance of Singularities in Parallel Kinematic Machines"],"prefix":"10.1007","author":[{"given":"Franz","family":"Dietrich","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jochen","family":"Maa\u00df","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carlos","family":"Bier","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ingo","family":"Pietsch","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Annika","family":"Raatz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J\u00fcrgen","family":"Hesselbach","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","reference":[{"issue":"4","key":"5_CR1","doi-asserted-by":"publisher","first-page":"377","DOI":"10.1016\/S0921-8890(97)00028-6","volume":"21","author":"C.M. Gosselin","year":"1997","unstructured":"Gosselin, C.M., Wang, J.G.: Singularity loci of planar parallel manipulators with revolute actuators. Robotics and Autonomous Systems\u00a021(4), 377\u2013398 (1997)","journal-title":"Robotics and Autonomous Systems"},{"issue":"4","key":"5_CR2","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1002\/rob.10078","volume":"20","author":"Z. Huang","year":"2003","unstructured":"Huang, Z., Chen, L.H., Li, Y.W.: The singularity principle and property of stewart parallel manipulator. Journal of Robotic Systems\u00a020(4), 163\u2013176 (2003)","journal-title":"Journal of Robotic Systems"},{"key":"5_CR3","doi-asserted-by":"crossref","unstructured":"Horin, P.B., Shoham, M.: A class of parallel robots practically free of parallel singularities. Journal of Mechanical Design\u00a0130(5) (2008)","DOI":"10.1115\/1.2885508"},{"issue":"10","key":"5_CR4","doi-asserted-by":"publisher","first-page":"1455","DOI":"10.1016\/S0094-114X(00)00003-3","volume":"35","author":"P. Choudhury","year":"2000","unstructured":"Choudhury, P., Ghosal, A.: Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms. Mechanism and Machine Theorie\u00a035(10), 1455\u20131479 (2000)","journal-title":"Mechanism and Machine Theorie"},{"key":"5_CR5","volume-title":"A Treatise on the Theory of Screws","author":"R.S. Ball","year":"1900","unstructured":"Ball, R.S.: A Treatise on the Theory of Screws. Cambridge University Press, Cambridge (1900)"},{"key":"5_CR6","unstructured":"Hunt, K.H.: Don\u2019t cross-thread the screw. In: Proceedings of a Symposium Commemorating the Legacy, Works, and Life of Sir Robert Stawell Ball upon the 100th Anniversary of A Treatise on the Theory of Screws, pp. 1\u201336 (2000)"},{"key":"5_CR7","volume-title":"Kinematic Geometry of Mechanisms","author":"K.H. Hunt","year":"1978","unstructured":"Hunt, K.H.: Kinematic Geometry of Mechanisms. Oxford University Press, New York (1978)"},{"key":"5_CR8","first-page":"182","volume":"6","author":"L. Poinsot","year":"1806","unstructured":"Poinsot, L.: Sur la composition des moments et la composition des aires. \u00c9c Polyt Paris\u00a06, 182\u2013205 (1806)","journal-title":"\u00c9c Polyt Paris"},{"key":"5_CR9","unstructured":"Bier, C.: Geometrische und physikalische Analyse von Singularit\u00fcten bei Parallelstrukturen. Ph.D. thesis, Fakult\u00e4t f\u00fcr Maschinenbau, TU Braunschweig, Vulkan-Verlag (2006)"},{"key":"5_CR10","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4471-0449-0","volume-title":"Modeling and Control of Robot Manipulators","author":"L. Sciavicco","year":"2000","unstructured":"Sciavicco, L., Siciliano, B.: Modeling and Control of Robot Manipulators. Springer, London (2000)"},{"key":"5_CR11","volume-title":"Robot Analysis - The Mechanics of Serial and Parallel Manipulators","author":"L.-W. Tsai","year":"1999","unstructured":"Tsai, L.-W.: Robot Analysis - The Mechanics of Serial and Parallel Manipulators. John Wiley and Sons Inc., New York (1999)"},{"issue":"3","key":"5_CR12","doi-asserted-by":"publisher","first-page":"281","DOI":"10.1109\/70.56660","volume":"6","author":"C. Gosselin","year":"1990","unstructured":"Gosselin, C., Angeles, J.: Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation\u00a06(3), 281\u2013290 (1990)","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"3","key":"5_CR13","doi-asserted-by":"publisher","first-page":"301","DOI":"10.1109\/70.938387","volume":"17","author":"N. Simaan","year":"2001","unstructured":"Simaan, N., Shoham, M.: Singularity analysis of class of composite serial in-parallel robots. IEEE Transactions on Robotics and Automation\u00a017(3), 301\u2013311 (2001)","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"5_CR14","unstructured":"Kozak, K., Voglewede, P.A., Ebert-Uphoff, I., Singhose, W.: Concept paper: On the significance of the lowest linearized natural frequency of a parallel manipulator as a performance measure for concurrent design. In: Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City (Kanada), pp. 112\u2013118 (2002)"},{"issue":"2","key":"5_CR15","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1177\/027836498500400201","volume":"4","author":"T. Yoshikawa","year":"1985","unstructured":"Yoshikawa, T.: Manipulability of robotic mechanisms. The International Journal of Robotics Research\u00a04(2), 3\u20139 (1985)","journal-title":"The International Journal of Robotics Research"},{"key":"5_CR16","unstructured":"Lee, J., Duffy, J.: The optimum quality index for some spatial in-parallel devices. In: Proceedings of Conference on Recent Advances in Robotics, Miami, USA, pp. 1\u201319 (1997)"},{"issue":"6","key":"5_CR17","doi-asserted-by":"publisher","first-page":"560","DOI":"10.1177\/027836499201100605","volume":"11","author":"J. Angeles","year":"1992","unstructured":"Angeles, J., L\u00f3pez-Caj\u00fan, C.S.: Kinematic isotropy and conditioning index of serial robotic manipulators. The International Journal of Robotics Research\u00a011(6), 560\u2013571 (1992)","journal-title":"The International Journal of Robotics Research"},{"issue":"3","key":"5_CR18","doi-asserted-by":"publisher","first-page":"377","DOI":"10.1109\/70.56657","volume":"6","author":"C. Gosselin","year":"1990","unstructured":"Gosselin, C.: Stiffness mapping for parallel manipulators. Transactions on Robotics and Automation\u00a06(3), 377\u2013382 (1990)","journal-title":"Transactions on Robotics and Automation"},{"issue":"3","key":"5_CR19","doi-asserted-by":"publisher","first-page":"462","DOI":"10.1109\/70.388791","volume":"11","author":"K.L. Doty","year":"1995","unstructured":"Doty, K.L., Melchiorri, C., Schwartz, E.M., Bonivento, C.: Robot manipulability. IEEE Transactions on Robotics and Automation\u00a011(3), 462\u2013468 (1995)","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"2","key":"5_CR20","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1002\/rob.4620070202","volume":"7","author":"J. Duffy","year":"1990","unstructured":"Duffy, J.: The fallacy of modern hybrid control theory that is based on orthogonal complements of twist and wrench spaces. Journal of Robotic Systems\u00a07(2), 139\u2013144 (1990)","journal-title":"Journal of Robotic Systems"},{"key":"5_CR21","doi-asserted-by":"publisher","first-page":"138","DOI":"10.1115\/1.3258918","volume":"110","author":"H. Lipkin","year":"1988","unstructured":"Lipkin, H., Duffy, J.: Hybrid twist and wrench control for a robot manipulator. Journal of Mechanisms, Transmissions, and Automation in Design\u00a0110, 138\u2013144 (1988)","journal-title":"Journal of Mechanisms, Transmissions, and Automation in Design"},{"issue":"2","key":"5_CR22","doi-asserted-by":"publisher","first-page":"185","DOI":"10.1177\/027836499701600205","volume":"16","author":"K.E. Zanganeh","year":"1997","unstructured":"Zanganeh, K.E., Angeles, J.: Kinematic isotropy and optimum design of parallel manipulators. The International Journal of Robotics Research\u00a016(2), 185\u2013197 (1997)","journal-title":"The International Journal of Robotics Research"},{"key":"5_CR23","doi-asserted-by":"crossref","unstructured":"Hesselbach, J., Bier, C., Campos, A., L\u00f6we, H.: Direct kinematic singularity detection of a hexa parallel robot. In: Proceedings of IEEE International Conference of Intelligent Robots and Systems, Edmonton (Kanada), pp. 3249\u20133254 (2005)","DOI":"10.1109\/ROBOT.2005.1570609"},{"key":"5_CR24","unstructured":"Bier, C., Queiroz, E., Campos, A., Maass, J., Guenther, R.: Direct singularity avoidance strategy for the hexa parallel robot. In: 18th International Congress of Mechanical Engineering (2005)"},{"key":"5_CR25","unstructured":"Maa\u00df, J.: Ein Beitrag zur Steuerungstechnik f\u00fcr parallelkinematische Roboter in der Montage. Ph.D. thesis, Fakult\u00e4t f\u00fcr Maschinenbau, TU Braunschweig, Vulkan Verlag, 2009 (in german)"},{"key":"5_CR26","unstructured":"Maa\u00df, J., Kolbus, M., Bier, C., Wobbe, F., Schuhmacher, W., Raatz, A., Hesselbach, J.: Advances in motion control for high-performance parallel robots. In: Robotic Systems for Handling and Automation, pp. 285\u2013296 (2008)"},{"key":"5_CR27","series-title":"STAR","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1007\/978-3-642-16785-0_18","volume-title":"Robotic Systems for Handling and Assembly","author":"F. Dietrich","year":"2010","unstructured":"Dietrich, F., Maa\u00df, J., Raatz, A., Hesselbach, J.: RCA562: Control Architecture for Parallel Kinematic Robots. In: Sch\u00fctz, D., Wahl, F.M. (eds.) Robotic Systems for Handling and Assembly. STAR, vol.\u00a067, pp. 315\u2013331. Springer, Heidelberg (2010)"},{"key":"5_CR28","unstructured":"Brueckner, S.: Return from the Ant. Ph.D. thesis, Humboldt-Universitat Berlin (2000)"},{"key":"5_CR29","doi-asserted-by":"crossref","unstructured":"Hsiao, Y., Chuang, C., Chien, C.: Ant colony optimization for best path planning. In: IEEE International Symposium on Communications and Information Technology, ISCIT 2004, vol.\u00a01 (2004)","DOI":"10.1109\/ISCIT.2004.1412460"}],"container-title":["Springer Tracts in Advanced Robotics","Robotic Systems for Handling and Assembly"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-642-16785-0_5.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,30]],"date-time":"2021-04-30T12:31:01Z","timestamp":1619785861000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-642-16785-0_5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010]]},"ISBN":["9783642167843","9783642167850"],"references-count":29,"URL":"https:\/\/doi.org\/10.1007\/978-3-642-16785-0_5","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"type":"print","value":"1610-7438"},{"type":"electronic","value":"1610-742X"}],"subject":[],"published":{"date-parts":[[2010]]}}}