Differential Topology of the Inverse Kinematic Problem for Redundant Robot Manipulators

Abstract

In this paper a program of singularity theory is pro claimed to be of systematic use in robotics. Complete lists of normal forms are proposed and are regarded as candi date models of kinematics of robot manipulators. Argu ments for the applicability of candidate normal forms to manipulator kinematics are provided. Singularities and bifurcation diagrams of the normal forms are examined and consequences derived for the inverse kinematic prob lem in redundant kinematics with singularities.