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The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of general methods able to perform such computation on a large class of manipulators is problematic because it hinders the analysis of unconventional manipulators and the development of...
This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each singularity type is given. Using a numerical method based on linear relaxations, the configurations in each type are computed independently. The method is general and complete: it can...
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