Workspace Singularity

Workspace Singularity is a type of kinematic singularity occurring in robotic manipulators when the Jacobian matrix loses full rank at specific configurations within the workspace, resulting in the loss of instantaneous mobility or the ability to generate end-effector motion in certain directions.

Publications

1.9K

Citations

104

Authors

Institutions

Publications per year

2017–2026

Parents

Singularity Analysis

Publications

Numerical filtering for the operation of robotic manipulators through kinematically singular configurations

Anthony A. Maciejewski, Charles A. Klein · Journal of Robotic Systems · 1988 · 238 citations · Full text

Engineering, Mechanical Engineering, Robotics Engineering +16

A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications

Sönke Kock, Walter Schumacher · 2002 · 158 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Design and Analysis of a Permanent Magnet Spherical Actuator

Liang Yan, I‐Ming Chen, Chee Kian Lim et al. · IEEE/ASME Transactions on Mechatronics · 2008 · 152 citations

Engineering, Electrical Engineering, Mechanical Engineering +17

Kinematic Analysis and Design of a New 3-DOF Translational Parallel Manipulator

Yangmin Li, Qingsong Xu · Journal of Mechanical Design · 2005 · 146 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

The singularities and dynamics of a Stewart platform manipulator

Kai Liu, Frank L. Lewis, G. Lebret et al. · Journal of Intelligent & Robotic Systems · 1993 · 70 citations

Engineering, Mechanical Engineering, Robotics Engineering +12

1–5 of 43

Authors

104

SZ
S. Zeghloul
Université de Poitiers, France
2 publications · 28 citations
2
h-index
YL
Yangmin Li
University of Macau, Macao SAR China
2 publications · 184 citations
2
h-index
KA
Karim Abdel‐Malek
University of Iowa, United States
2 publications · 73 citations
2
h-index
IC
I‐Ming Chen
Nanyang Technological University, Singapore
2 publications · 172 citations
2
h-index
QX
Qingsong Xu
University of Macau, Macao SAR China
2 publications · 184 citations
2
h-index

1–5 of 104

Institutions

1–8 of 64

Venues

Mechanism and Machine Theory
8 publications · 295 citations
8
h-index
Journal of Robotic Systems
4 publications · 316 citations
4
h-index
The International Journal of Robotics Research
IJRR · 2 publications · 95 citations
2
h-index
Robotica
2 publications · 50 citations
2
h-index
IEEE/ASME Transactions on Mechatronics
2 publications · 194 citations
2
h-index

1–5