A geometric approach to the design of a singularity-free articulated arm-subassembly

Previously a reduced Jacobian method was used to constrain a redundant articulated arm-subassembly resulting in a complete workspace without singularities. This paper presents a purely geometric solution to the same problem, and shows that a geometric analysis of singular configurations quickly provides necessary conditions which any singularity elimination algorithm must meet. Sufficiency of the candidate algorithm is established by direct analysis.