A dependent-screw suppression approach is proposed for the singularity analysis of 7-DOF (degree-of-freedom) redundant manipulators. This approach is applied to the singularity analysis of the Canadarm2. Five families of singular configurations are identified for the Canadarm2. The singular configurations obtained are identical to those obtained using the reciprocity-based method. Unlike the results presented previously, there are no denominators in the equations describing the singular configurations.
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Kong et al. (2005) studied this question.
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