{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T22:26:23Z","timestamp":1767651983385},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[1997,7,1]],"date-time":"1997-07-01T00:00:00Z","timestamp":867715200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1997,7]]},"abstract":"<jats:p>Based on the singularity-consistent parameterization framework, we\nanalyze motion at direct kinematics singularities for a broad class of parallel\nmanipulators. It will be shown that taking into account the instantaneous motion\ndirection of the output link, additional insight can be gained for the\npossibility to move through such singularities. We argue that direct kinematics\nsingularities should be analyzed over the dual space which, in turn, involves\nthe state of the passive joints. We perform such an analysis based on the\nconditioning of the equation of motion. It is shown that, depending on the\ninstantaneous motion direction, at certain direct kinematics singularities it is\npossible to obtain a consistent solution in terms of torque. This implies that\nin combination with the continuity of the singularity-consistent inverse\nkinematic solution, motion through such direct kinematics singularities is\nfeasible.<\/jats:p>","DOI":"10.1017\/s0263574797000465","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"375-384","source":"Crossref","is-referenced-by-count":21,"title":["Dynamic Analysis of\nParallel Manipulators under the Singularity-Consistent Parameterization"],"prefix":"10.1017","volume":"15","author":[{"given":"D. N.","family":"Nenchev","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.","family":"Bhattacharya","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Uchiyama","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[1997,7,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000465","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T20:38:08Z","timestamp":1557607088000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000465\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,7]]},"references-count":0,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1997,7]]}},"alternative-id":["S0263574797000465"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000465","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,7]]}}}