Concepedia

Kinematic Singularity

Kinematic Singularity is a configuration in a mechanical system’s motion path where the instantaneous kinematic behavior loses full rank, resulting in the loss of controllability or mobility in one or more degrees of freedom due to the alignment or collapse of velocity Jacobian matrix columns.

177

Publications

8.8K

Citations

322

Authors

166

Institutions

Publications per year

2017–2026

23

Parents

Publications

177

Singularity analysis of closed-loop kinematic chains

Clément Gosselin, Jorge Angeles · IEEE Transactions on Robotics and Automation · 1990 · 1.7K citations

, , +17

Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy

Arthur W. Mahoney, Jake J. Abbott · The International Journal of Robotics Research · 2015 · 268 citations

, , +17

Kinematical singularities, crossing matrix and kinematical constraints for two-body helicity amplitudes

Gilles Cohen-Tannoudji, Adrien Morel, H. Navelet · Annals of Physics · 1968 · 262 citations

, , +12

Singularity Analysis of Closed Kinematic Chains

F. C. Park, Jihang Kim · Journal of Mechanical Design · 1999 · 229 citations

, , +17

Kinematics and Singularity Analysis of a Novel Type of 3-CRR 3-DOF Translational Parallel Manipulator

Xianwen Kong, Clément Gosselin · The International Journal of Robotics Research · 2002 · 196 citations

, , +16

1–5 of 177

Authors

322

  1. DN
    Dragomir N. Nenchev

    Tohoku University, Japan

    10 publications · 297 citations

    10

    h-index

  2. MU
    Masaru Uchiyama

    Tohoku University, Japan

    7 publications · 200 citations

    7

    h-index

  3. KT
    Krzysztof Tchoń

    Wrocław University of Science and Technology, Poland

    6 publications · 133 citations

    6

    h-index

  4. WK
    Wan Kyun Chung

    Pohang University of Science and Technology, South Korea

    5 publications · 106 citations

    5

    h-index

  5. DZ
    Dimiter Zlatanov

    University of Genoa, Italy

    4 publications · 346 citations

    4

    h-index

1–5 of 322

Institutions

166

  1. Tohoku University

    Sendai, Japan

    8 h-index

    17 publications

    504 citations

  2. Wrocław University of Science and Technology

    Wroclaw, Poland

    6 h-index

    8 publications

    184 citations

  3. Pohang University of Science and Technology

    Pohang, South Korea

    5 h-index

    11 publications

    231 citations

  4. University of Toronto

    Toronto, Canada

    5 h-index

    15 publications

    1.1K citations

  5. University of Wrocław

    Wroclaw, Poland

    5 h-index

    8 publications

    186 citations

  6. Université Laval

    Québec, Canada

    4 h-index

    6 publications

    2.5K citations

  7. University of British Columbia

    Vancouver, Canada

    4 h-index

    4 publications

    129 citations

  8. Centre National de la Recherche Scientifique

    Paris, France

    4 h-index

    8 publications

    155 citations

1–8 of 166

Venues

  1. The International Journal of Robotics Research

    IJRR · 13 publications · 1.2K citations

    13

    h-index

  2. Robotica

    12 publications · 366 citations

    11

    h-index

  3. Mechanism and Machine Theory

    13 publications · 526 citations

    11

    h-index

  4. IEEE Transactions on Robotics and Automation

    7 publications · 2K citations

    7

    h-index

  5. Journal of Mechanisms and Robotics

    7 publications · 285 citations

    7

    h-index

1–5