Classification of Serial Robot-Manipulators with Nonremovable Singularities

[+] Author and Article Information
A. Karger

Mathematical Institute of the Charles University, Praha, Czech Republic

J. Mech. Des 118(2), 202-208 (Jun 01, 1996) (7 pages) doi:10.1115/1.2826870 History: Received April 01, 1995; Revised October 01, 1995; Online December 11, 2007


In this paper we discuss singular configurations of serial robot-manipulators with respect to their removability. A removable singularity is a singularity which can be removed from a motion of the end-effector by a small change of the motion. The most interesting situation appears for robot-manipulators with 5 degrees of freedom, because the case of 4 degrees of freedom is easy and singular configurations of robot-manipulators with 6 degrees of freedom are nonremovable. In the paper we give the complete list of all 5R robot-manipulators which have nonremovable singularities. The image of the singular set in the parameter space for such manipulators can be a plane, a quadric, a cylinder or an algebraic surface of degree 3 or 7. All of them are explicitly given.

Copyright © 1996 by The American Society of Mechanical Engineers
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