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Singularity-theoretic methods in robot kinematics
P. S. Donelan
Journal:

Robotica / Volume 25 / Issue 6 / November 2007

Published online by Cambridge University Press:

01 November 2007, pp. 641-659
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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 applications of singularity-theoretic methods in robot kinematics and presents some new results.