José L. Pulloquinga

Apr 30, 2024 | mdpi.com | José L. Pulloquinga |Marco Ceccarelli |Vicente Celestino Mata |Ángel Valera

1. IntroductionIn robotics, a singularity is a configuration where the number of degrees of freedom (DOF) of the robot changes instantaneously [1,2]. In serial manipulators, a singularity constrains the mobility of the end-effector in at least one direction and generally appears at the boundary of the workspace [3]. However, parallel manipulators, or Parallel Kinematic Mechanisms (PKMs), have various types of singularities due to their closed kinematic chain architecture [4,5,6].