Andreas Müller & Dimiter Zlatanov 
Singular Configurations of Mechanisms and Manipulators 

The book introduces the main problems, key methods, and milestone results in singularity analysis of mechanisms. It provides a comprehensive and concise overview of basic results while also addressing a few advanced topics of singularities in mechanical systems and robots.

Tabla de materias

Generalized Singularity Analysis.- Singularity Set Computation: A Hands-On Introduction with the CUIK Suite.- Cuspidal Robots.- Mechanism Constraints and Singularities- The Algebraic Formulation.- Local Investigation of Mobility and Singularities of Linkages.