In this paper, we consider singular configurations of a robotic system that can be modeled as a platform supported by serial robotic chains. The goal is to determine the conditions under which these singular configurations depend purely on the geometry of lines associated with each supporting chain. These conditions are satisfied by many manipulator systems, particularly those based on the Stewart platform. A geometric classification of these “line-based” singularities is presented.
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Hao et al. (1998) studied this question.
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