{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,9,13]],"date-time":"2024-09-13T13:56:29Z","timestamp":1726235789992},"reference-count":2,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":8103,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1987,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Part 1 of the paper* was concerned with the Jacobian of serial robot-arms and its matrix of cofactors; part 2 emphasizes the end-effector's velocity characteristics as affected at special configurations. The displacement about a \u2018fixture-point\u2019 is extended dually to a \u2018fixture-plane\u2019, and then to a \u2018fixture-line\u2019. These fixture-elements serve to highlight the prolixity of special configurations. Reciprocal screws lead to a complete survey of how the end-effector can \u2018twist\u2019 when one freedom is lost; extension to loss of more freedoms is explained. Then the fixture-elements are given elementary displacements that allow common requirements to be studied with the minimum of complications. Further investigation is thought to have promise for robot-control.<\/jats:p>","DOI":"10.1017\/s0263574700009590","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:26:20Z","timestamp":1236691580000},"page":"17-22","source":"Crossref","is-referenced-by-count":29,"title":["Special configurations of robot-arms <i>via<\/i> screw theory"],"prefix":"10.1017","volume":"5","author":[{"given":"K. H.","family":"Hunt","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700009590_ref002","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(76)90001-X"},{"key":"S0263574700009590_ref001","doi-asserted-by":"publisher","DOI":"10.1115\/1.3254968"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700009590","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,22]],"date-time":"2019-05-22T02:05:07Z","timestamp":1558490707000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700009590\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,1]]},"references-count":2,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1987,1]]}},"alternative-id":["S0263574700009590"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700009590","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1987,1]]}}}