Singular Configurations of Mechanisms and Manipulators

Suggested readings

D. Zlatanov, R.G. Fenton, and B. Benhabib: A Unifying Framework for Classification and Interpretation of Mechanism Singularities, Journal of Mechanical Design, 117(4) 566–572, 1995.

O. Bohigas, D. Zlatanov, L. Ros, M. Manubens, J-M. Porta: A General Method for the Numerical Computation of Manipulator Singularity Sets, to appear in IEEE Transactions on Robotics, 2013.

D. Zlatanov, I.A. Bonev, and C.M. Gosselin: Constraint singularities of parallel mechanisms, IEEE International Conference on Robotics and Automation, 496–502, 2002.

M.L. Husty and H.-P. Schröcker: Kinematics and Algebraic geometry, in 21st Century Kinematics, M. McCarthy (ed.), Springer, 2012.

J. Selig: Geometric Fundamentals of Robotics, Springer, 2005.

J.P. Merlet: Parallel Robots, Springer, 2nd ed., 2005.

J.P. Merlet: Singular configurations of Parallel Robots and Grassmann Geometry, International Journal of Robotics Research, 8(5) 45–56, 1989.

J.P. Merlet: A Formal-Numerical Approach for Robust In-Workspace Singularity Detection, IEEE Transactions on Robotics, 23(3) 393–402, 2007.

P. Wenger: Cuspidal and noncuspidal robot manipulators, Robotica, Special issue on Geometry in Robotics and Sensing, 25(6) 677–690, 2007.

M. Zein, P. Wenger, D. Chablat : Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators , Robotica Special issue on Geometry in Robotics and Sensing, 25(6) 717–724, 2007.

P. Wenger: Uniqueness domains and regions of feasible paths for cuspidal manipulators, IEEE Transactions on Robotics, 20(4) 745–750, 2004.

P. Donelan: Singularity-theoretic methods in robot kinematics, Robotica, 25(6) 641–659, 2007.

A. Müller and J.M. Rico: Mobility and Higher Order Local Analysis of the Configuration Space of Single-Loop Mechanisms, Advances in Robot Kinematics, J.J. Lenarcic and P. Wenger (eds.), Springer, 215–224, 2008.

A. Müller: On the Manifold Property of the Set of Singularities of Kinematic Mappings, Journal of Mechanisms and Robotics, 3(1) & 4(1), 2011–2012.


See also