Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001

42.4.2 Singularities

 

· Common types of singularities are,

  1. - redundant configurations lead to indefinite solutions
  2. - joints become straight, and infinite joint velocities are required
  3. - positions that may be reached in an infinite number of ways.

 

· Most of these singularities became obvious mathematically.

 

· A simple type of singularity often occurs at the edge of the robot workspace

 

 

· Another type of robot singularity occurs when the joints flip

 

 

· Some forms of solution redundancy can also be considered singularities (the solution to these is to examine the last position, and match the solution to it)