Configuration Space Singularity is a type of kinematic singularity occurring in robotic systems, distinguished by the loss of full rank in the Jacobian matrix that maps joint velocities to end-effector velocities, resulting in degeneracies within the robot’s configuration space where motion feasibility or controllability is locally impaired.
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2017–2026
8
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Publications
59
On the dynamics of parallel manipulators
Yin Yiu, H. Cheng, Zhenhua Xiong et al. · 2002 · 82 citations
Engineering, Mechanical Engineering, Robotics Engineering +17
1–5 of 59
Authors
120
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1–5 of 120
Institutions
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Indian Institute of Science Bangalore
Bengaluru, India
3 h-index
5 publications
334 citations
Georgia Institute of Technology
Atlanta, United States
2 h-index
4 publications
90 citations
Seoul National University
Seoul, South Korea
2 h-index
4 publications
590 citations
University of Tulsa
Tulsa, United States
2 h-index
6 publications
84 citations
University of Genoa
Genoa, Italy
2 h-index
2 publications
52 citations
Hong Kong University of Science and Technology
Hong Kong, Hong Kong
2 h-index
8 publications
752 citations
Institut de Robòtica i Informàtica Industrial
Barcelona, Spain
2 h-index
8 publications
208 citations
University of Southern California
Los Angeles, United States
2 h-index
4 publications
102 citations
1–8 of 83
Venues
- Mechanism and Machine Theory
10 publications · 322 citations
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- The International Journal of Robotics Research
IJRR · 4 publications · 171 citations
4
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- Physical review. D. Particles, fields, gravitation, and cosmology/Physical review. D. Particles and fields
3 publications · 73 citations
3
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- Journal of Mechanical Design
3 publications · 313 citations
3
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- IEEE Transactions on Antennas and Propagation
1 publications · 25 citations
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