Concepedia

Singularity Analysis

Singularity Analysis is an analytical discipline within robot kinematics that characterizes, classifies, and evaluates the configurations of a robotic mechanism at which its Jacobian loses rank, leading to degeneracies such as loss or gain of instantaneous degrees of freedom, unbounded joint velocities, or loss of controllability.

3.9K

Publications

184.7K

Citations

5.6K

Authors

1.7K

Institutions

Publications per year

2017–2026

453

Parents

Children

Publications

3.9K

Gravitational Collapse and Space-Time Singularities

Roger Penrose · Physical Review Letters · 1965 · 2.9K citations · Full text

, , +15

A unified approach for motion and force control of robot manipulators: The operational space formulation

Oussama Khatib · IEEE Journal on Robotics and Automation · 1987 · 2.9K citations

, , +17

Stability of a Schwarzschild Singularity

T. Regge, John Wheeler · Physical Review · 1957 · 2.7K citations

, , +12

Singularity analysis of closed-loop kinematic chains

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

, , +17

A survey of linear singular systems

Frank L. Lewis · Circuits Systems and Signal Processing · 1986 · 1.3K citations

, , +11

1–5 of 3.9K

Authors

5.6K

  1. CG
    Clément Gosselin

    Université Laval, Canada

    47 publications · 5.3K citations

    27

    h-index

  2. PW
    Philippe Wenger

    Centre National de la Recherche Scientifique, France

    19 publications · 674 citations

    15

    h-index

  3. DC
    Damien Chablat

    Centre National de la Recherche Scientifique, France

    15 publications · 526 citations

    14

    h-index

  4. DN
    Dragomir N. Nenchev

    Tohoku University, Japan

    18 publications · 481 citations

    14

    h-index

  5. JA
    Jorge Angeles

    McGill University, Canada

    16 publications · 2.5K citations

    13

    h-index

1–5 of 5.6K

Institutions

1.7K

  1. Centre National de la Recherche Scientifique

    Paris, France

    35 h-index

    186 publications

    7.3K citations

  2. Université Laval

    Québec, Canada

    27 h-index

    93 publications

    9.1K citations

  3. Princeton University

    Princeton, United States

    22 h-index

    41 publications

    5.9K citations

  4. Tsinghua University

    Beijing, China

    22 h-index

    66 publications

    2.5K citations

  5. McGill University

    Montreal, Canada

    21 h-index

    52 publications

    5.7K citations

  6. Institut national de recherche en sciences et technologies du numérique

    Le Chesnay-Rocquencourt, France

    21 h-index

    39 publications

    3K citations

  7. Harbin Institute of Technology

    Harbin, China

    21 h-index

    111 publications

    5.1K citations

  8. Massachusetts Institute of Technology

    Cambridge, United States

    20 h-index

    36 publications

    2.7K citations

1–8 of 1.7K

Venues

  1. Mechanism and Machine Theory

    78 publications · 3.4K citations

    36

    h-index

  2. The International Journal of Robotics Research

    IJRR · 50 publications · 3.8K citations

    34

    h-index

  3. Inventiones mathematicae

    37 publications · 2.4K citations

    27

    h-index

  4. Journal of Mechanical Design

    44 publications · 2.6K citations

    27

    h-index

  5. Mathematische Annalen

    55 publications · 2.2K citations

    27

    h-index

1–5