Abstract: Whether the singularities of a kinematic mapping constitute smoothmanifolds is an important question with significance to mechanism design and robot control. It is thus obvious to ask if this ...

Abstract: It is commonly assumed that the singularities of kinematic mappings constitute generically smooth manifolds but this has not yet been proven. Moreover, before this assumption can be verified, ...

Abstract: Redundant constraints in multibody system (MBS) models, reflected by a singular constraint Jacobian, impair the efficient dynamics simulation. In particular, kinematic loop constraints are often ...