Singularities in Robot Kinematics - A Publications Database

About the Database

Singularities have been recognised as an important phenomenon in the kinematics, dynamics and control of robot manipulators since at least the 1960s. The literature on identification, avoidance and analysis of singularities of many classes and designs of manipulator is now extensive. For the most part it can be found in specialist robotics, mechanism and engineering journals, books and conference proceedings. There is also more theoretical research about kinematic singularities in a variety of pure and applied mathematics sources. This database attempts to bring together all these references in one place for the use of researchers in both theoretical and applied robotics specifically interested in robot manipulator singularities.

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Keywords from the following lists have been assigned to each entry in the database. Each entry may have no, one or several keywords from each list. The search will return the union of results for keywords selected within any one list and the intersection of those results across two or more lists.

Architecture Mathematics Robotics Singularities
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The database contains primarily English language items. It is run by Peter Donelan, and any feedback, corrections or suggestions for entries should be sent to him. It was constructed by Jeffrey Azzato, with help from the programmers at the School of Engineering and Computer Science at Victoria University of Wellington, New Zealand. Its construction was funded by the Victoria University Research Fund.