A normal form of singular kinematics of robot manipulators with smallest degeneracy

Abstract

We study singular kinematics of robot manipulators around internal configurations at which the manipulator Jacobian drops rank by 1. Conditions are presented under which such kinematics can be transformed to a simple quadratic normal form. The conditions are proved using standard methods of singularity theory, and illustrated with an example.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>