A view of singularities in manipulator inverse kinematics

The author has previously (1990, 1991) developed techniques for manipulator inverse kinematics that are effective at kinematic singularities. These techniques enable the classification of singularities as well as the analysis of differential motion in their neighborhoods (e.g. inverse velocity and acceleration solutions). This paper offers the author´s current view of kinematic singularities explained with a minimum of mathematics using a certain curve analogy. This view encourages the hope that kinematic singularities can be included (rather than avoided) in manipulator motion planning and control.<>