Singularity-theoretic methods in robot kinematics

@article{Donelan2007SingularitytheoreticMI,
  title={Singularity-theoretic methods in robot kinematics},
  author={Peter S. Donelan},
  journal={Robotica},
  year={2007},
  volume={25},
  pages={641-659}
}
The significance of singularities in the design and control of robot manipulators is well known and there is an extensive literature on the determination and analysis of singularities for a wide variety of serial and parallel manipulators—indeed such an analysis is an essential part of manipulator design. Singularity theory provides methodologies for a deeper analysis with the aim of classifying singularities, providing local models and local and global invariants. This paper surveys… CONTINUE READING

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