{"id":"https://openalex.org/W1973094618","doi":"https://doi.org/10.1017/s0263574707004109","title":"Workspaces associated to assembly modes of the 5R planar parallel manipulator","display_name":"Workspaces associated to assembly modes of the 5R planar parallel manipulator","publication_year":2008,"publication_date":"2008-02-01","ids":{"openalex":"https://openalex.org/W1973094618","doi":"https://doi.org/10.1017/s0263574707004109","mag":"1973094618"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707004109","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049287723","display_name":"Erik Macho","orcid":"https://orcid.org/0000-0002-6499-3932"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Erik Macho","raw_affiliation_strings":["Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056566607","display_name":"\u00d3scar Altuzarra","orcid":"https://orcid.org/0000-0001-7145-4833"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Oscar Altuzarra","raw_affiliation_strings":["Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090545886","display_name":"Charles Pinto","orcid":"https://orcid.org/0000-0002-0630-8888"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Charles Pinto","raw_affiliation_strings":["Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001121191","display_name":"A. Hern\u00e1ndez","orcid":"https://orcid.org/0000-0001-5475-6960"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alfonso Hernandez","raw_affiliation_strings":["Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of mechanical engineering, university of the basque country, bilbao, 48013, spain#TAB#","institution_ids":["https://openalex.org/I169108374"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.077,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":49,"citation_normalized_percentile":{"value":0.991425,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":"26","issue":"3","first_page":"395","last_page":"403"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9906,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9867,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Work space","score":0.97664},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.43804088}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.97664},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.85391515},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.80970275},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7591001},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5947276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922703},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5480131},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.43804088},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43023455},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3951882},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32953987},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3275702},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25424397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2513226},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10339084},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.086465865},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.064558774},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574707004109","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.59}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":21,"referenced_works":["https://openalex.org/W1583822431","https://openalex.org/W1989227700","https://openalex.org/W1992810839","https://openalex.org/W1993371511","https://openalex.org/W2012329384","https://openalex.org/W2015187490","https://openalex.org/W2020253405","https://openalex.org/W2021262240","https://openalex.org/W2028540104","https://openalex.org/W2043154226","https://openalex.org/W2063706220","https://openalex.org/W2067614974","https://openalex.org/W2103473722","https://openalex.org/W2123253447","https://openalex.org/W2138799993","https://openalex.org/W2145680719","https://openalex.org/W2146475250","https://openalex.org/W2167771159","https://openalex.org/W2341668857","https://openalex.org/W3004879478","https://openalex.org/W4256526535"],"related_works":["https://openalex.org/W3162047364","https://openalex.org/W2635001913","https://openalex.org/W2537091977","https://openalex.org/W2394251694","https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W1518655544"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,36],"aim":[2],"of":[3,28,66,73,87],"this":[4],"paper":[5],"is":[6,11,83],"to":[7,13,57,90],"show":[8],"how":[9],"it":[10],"possible":[12],"obtain":[14],"for":[15],"the":[16,21,29,40,52,61,67,74],"5R":[17,75],"planar":[18,76],"parallel":[19,77],"manipulator":[20,78],"complete":[22,68],"workspace":[23,69],"associated":[24,38],"with":[25,39,79],"each":[26],"solution":[27],"direct":[30],"kinematic":[31,43],"problem":[32,44],"or":[33,46],"assembly":[34],"mode.":[35],"workspaces":[37],"different":[41],"inverse":[42],"solutions":[45],"working":[47],"modes":[48],"are":[49],"joined":[50],"and":[51,70],"robot":[53],"moves":[54],"from":[55],"one":[56],"another":[58],"without":[59],"losing":[60],"control.":[62],"An":[63],"exhaustive":[64],"analysis":[65],"singular":[71],"positions":[72],"two":[80],"active":[81],"joints":[82],"presented.":[84],"Furthermore,":[85],"application":[86],"these":[88],"principles":[89],"path":[91],"planning":[92],"will":[93],"be":[94],"explained.":[95]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1973094618","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2025-01-17T23:39:16.968701","created_date":"2016-06-24"}