{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T22:12:32Z","timestamp":1773180752638,"version":"3.50.1"},"reference-count":11,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":8287,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1986,7]]},"abstract":"<jats:sec id=\"S0263574700009358_sec01\"><jats:title>SUMMARY<\/jats:title><jats:p>The Jacobian of serial robot-arms is examined, and the matrix of cofactors of a singular Jacobian is presented as a means of explaining the physical nature of special configurations. Because the columns of both these matrices are screw coordinates, screw theory is central to proper understanding. \u2018Realistic\u2019 robot-arms are seen to behave in ways that can be explained not by particularizing from a general formulation but rather by carefully interpreting the relevant special screw systems from the outset. Higher singularities (with more than one freedom-loss) are then touched upon.<\/jats:p><\/jats:sec>","DOI":"10.1017\/s0263574700009358","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:25:27Z","timestamp":1236677127000},"page":"171-179","source":"Crossref","is-referenced-by-count":83,"title":["Special configurations of robot-arms <i>via<\/i> screw theory"],"prefix":"10.1017","volume":"4","author":[{"given":"K. H.","family":"Hunt","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700009358_ref002","first-page":"30","volume-title":"Proc. 4th Symposium on Theory and Practice of Robots and Manipulators","author":"Gorla","year":"1981"},{"key":"S0263574700009358_ref001","volume-title":"Kinematic geometry of mechanisms","author":"Hunt","year":"1978"},{"key":"S0263574700009358_ref009","doi-asserted-by":"publisher","DOI":"10.1016\/0022-2569(70)90070-4"},{"key":"S0263574700009358_ref004","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(82)90042-8"},{"key":"S0263574700009358_ref005","volume-title":"Kinematic Synthesis of Linkages","author":"Hartenberg","year":"1964"},{"key":"S0263574700009358_ref006","volume-title":"Robot manipulators: mathematics, programming, and control","author":"Paul","year":"1981"},{"key":"S0263574700009358_ref007","volume-title":"Analysis of Mechanisms and Robot Manipulators","author":"Duffy","year":"1980"},{"key":"S0263574700009358_ref008","first-page":"175","volume-title":"Recent Advances in Robotics","author":"Beni","year":"1985"},{"key":"S0263574700009358_ref010","volume-title":"The Theory of Screws","author":"Ball","year":"1900"},{"key":"S0263574700009358_ref011","volume-title":"Elementary Matrix Algebra","author":"Hohn","year":"1958"},{"key":"S0263574700009358_ref003","unstructured":"3. Waldron K.J. , Wang S-L. and Bolin S.J. , \u201cA study of the Jacobian matrix of serial manipulators\u201d ASME Paper No. 84-DET-33 (1984), to be published by ASME In: J. Mechanisms, Transmissions, and Automation in Design."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700009358","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,22]],"date-time":"2019-05-22T01:09:47Z","timestamp":1558487387000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700009358\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1986,7]]},"references-count":11,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1986,7]]}},"alternative-id":["S0263574700009358"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700009358","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1986,7]]}}}