Concepedia

Workspace Singularity Mapping

Workspace Singularity Mapping is a kinematic analysis framework that identifies and characterizes configurations within a serial robot's workspace where the Jacobian matrix loses full rank, thereby delineating regions where end-effector motion becomes degenerate or uncontrollable.

5

Publications

162

Citations

13

Authors

7

Institutions

Publications per year

2017–2026

1

Parents

Publications

5

A new general formalism for the kinematic analysis of all nonredundant manipulators

Philippe Wenger · 2003 · 49 citations

, , +17

A centro-based characterization of singularities in the workspace of planar closed-loop manipulators

Dibakar Sen, T.S. Mruthyunjaya · Mechanism and Machine Theory · 1998 · 36 citations

, , +14

Obtaining configuration space and singularity maps for parallel manipulators

Erik Macho, Óscar Altuzarra, Enrique Amezua et al. · Mechanism and Machine Theory · 2009 · 36 citations

, , +16

Practical approaches to handle the singularities of a wrist-partitioned space manipulator

Wenfu Xu, Bin Liang, Yangsheng Xu · Acta Astronautica · 2010 · 29 citations

, , +14

Mapping Robot Singularities through the Monte Carlo Method

Tomáš Stejskal, Jozef Svetlík, Štefan Ondočko · Applied Sciences · 2022 · 12 citations · Full text

, , +16

1–5 of 5

Authors

13

  1. YX
    Yangsheng Xu

    Chinese University of Hong Kong, Hong Kong SAR China

    1 publications · 29 citations

    1

    h-index

  2. DS
    Dibakar Sen

    Indian Institute of Science Bangalore, India

    1 publications · 36 citations

    1

    h-index

  3. BL
    Bin Liang

    Tsinghua University, China

    1 publications · 29 citations

    1

    h-index

  4. WX
    Wenfu Xu

    Harbin Institute of Technology, China

    1 publications · 29 citations

    1

    h-index

  5. ÓA
    Óscar Altuzarra

    University of the Basque Country, Spain

    1 publications · 36 citations

    1

    h-index

1–5 of 13

Institutions

7

  1. Centre National de la Recherche Scientifique

    Paris, France

    1 h-index

    1 publications

    49 citations

  2. Ente Vasco de la Energía

    Bilbao, Spain

    1 h-index

    4 publications

    144 citations

  3. Indian Institute of Science Bangalore

    Bengaluru, India

    1 h-index

    2 publications

    72 citations

  4. École Centrale de Nantes

    Nantes, France

    1 h-index

    1 publications

    49 citations

  5. Chinese University of Hong Kong

    Hong Kong, Hong Kong

    1 h-index

    1 publications

    29 citations

  6. Harbin Institute of Technology

    Harbin, China

    1 h-index

    2 publications

    58 citations

  7. Technical University of Košice

    Košice, Slovakia

    1 h-index

    3 publications

    36 citations

1–7 of 7

Venues

  1. Mechanism and Machine Theory

    2 publications · 72 citations

    2

    h-index

  2. Applied Sciences

    1 publications · 12 citations

    1

    h-index

  3. Acta Astronautica

    1 publications · 29 citations

    1

    h-index

1–3