An exhaustive summary of the content of the previous schools has been published as textbook "Singular Configurations of Mechanisms and Manipulators", A. Müller & D. Zlatanov, Springer 2019
The following references provide an introduction to the topics of the school. Where possible, links to open versions of the documents are provided.
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O. Bohigas, D. Zlatanov, L. Ros, M. Manubens, J. M. Porta: A General Method for the Numerical Computation of Manipulator Singularity Sets. IEEE Transactions on Robotics. Vol. 30, No. 2, pp. 340-351, 2014. |
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D. Zlatanov: Generalized Singularity Analysis of Mechanisms. Ph.D. Thesis. University of Toronto, 1998. |
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D. Zlatanov, I.A. Bonev, and C.M. Gosselin: Constraint singularities of parallel mechanisms, IEEE International Conference on Robotics and Automation, pp. 496–502, 2002. |
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M. Conconi and M. Carricato: A New Assessment of Singularities of ParallelKinematic Chains. IEEE Transactions on Robotics, 25 (4), pp. 757-770, 2009 |
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D. H. Salunkhe, T. Marauli, A. Müller, D. Chablat, P. Wenger: Kinematic issues in 6R cuspidal robots, guidelines for path planning and deciding cuspidality. The International Journal of Robotics Research, 2024; 44(6): 1035-1054 |
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P. Wenger and D. Chablat: A review of cuspidal serial and parallel manipulators, ASME. J. Mechanisms Robotics, 2022 |
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A. Müller: An Overview of Formulae for the Higher-Order Kinematics of Lower-Pair Chains with Applications in Robotics and Mechanism Theory: Mechanism and Machine Theory, Vol. 142, 2019 |
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A. Müller: A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the set of Configurations of Certain Rank of Lower Pair Linkages: ASME Journal of Mechanisms and Robotics, Vol. 11, No 2., 2019, 020910 (9 pages), DOI: 10.1115/1.4042545 |
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A. Müller: Wohlhart’s Three-Loop Mechanism: An Overconstrained and Shaky Linkage. In: Lenarčič J., Siciliano B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, Vol 15. Springer, Cham, pp. 125-132 |
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C. Black, J. Till, and D. Rucker: Parallel continuum robots: Modeling, analysis, and actuation-based force sensing. IEEE Trans. Robot., vol. 34, no. 1, pp. 29–47, Feb. 2018. |
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S. Briot, and A. Goldsztejn: Singularity Conditions for Continuum Parallel Robots. IEEE Transactions on Robotics, 2022, Vol. 38, No. 1, pp. 507-525. |
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O. Altuzarra, D. Caballero, F. Campa, and C. Pinto: Position analysis in planar parallel continuum mechanisms. Mechanism Machine Theory, vol. 132, pp. 13–29, 2019. |
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J-P.Merlet: Singular configurations of parallel manipulators and Grassmann geometry, International Journal of Robotics Research, 8(5):45–56, Oct. 1989 |
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J-P. Merlet: Mixing neural networks, continuation and symbolic computation to solve parametric systems of non linear equations, Neural Networks, Vol. 176, Aug. 2024 |
