We consider the kinematic accuracy of manipulators as characterized by
the conditioning of the associated Jacobian matrices. In this project the focus is on
singularity, which has been extensively studied with respect to serial
manipulators. In the case of manipulators with multiple
kinematic loops, however, the literature is relatively scarce and more recent.
It was found that a classification of singularity pertaining to
parallel manipulators, based on the singularities of the two Jacobian
matrices that relate input rates to Cartesian speeds, has limited validity.
In this project a more general classification scheme was proposed,
developed and verified to be applicable to all kinds of multi-loop manipulator.
H.R. Mohammadi Daniali, P. Zsombor-Murray, J. Angeles