Singular Configurations of Mechanisms and Manipulators

  • Andreas Müller
  • Dimiter Zlatanov

Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 589)

Table of contents

  1. Front Matter
    Pages i-ix
  2. Dimiter Zlatanov
    Pages 1-38
  3. Philippe Wenger
    Pages 67-99
  4. Manfred L. Husty, Dominic R. Walter
    Pages 101-180

About this book


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.


robot singularity robot self motion mechanism motion bifurcation singular screw systems platform singularity configuration space singularity instantaneous increase of mobility

Editors and affiliations

  • Andreas Müller
    • 1
  • Dimiter Zlatanov
    • 2
  1. 1.Institute of RoboticsJohannes Kepler University Linz (JKU)LinzAustria
  2. 2.Department of Mechanical EngineeringUniversity of GenoaGenoaItaly

Bibliographic information

  • DOI
  • Copyright Information CISM International Centre for Mechanical Sciences 2019
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-030-05218-8
  • Online ISBN 978-3-030-05219-5
  • Series Print ISSN 0254-1971
  • Series Online ISSN 2309-3706
  • Buy this book on publisher's site