Abstract
The literature on singularity analysis is rich, but one often perceives a lack of familiarity with the range of critical phenomena that can arise in a singularity, and with the kind of analytical methods needed to detect such phenomena. To help reversing this trend, and to provide necessary background for the rest of the book, this chapter presents the possible singularity types, their interpretation, and the mathematical conditions characterising each type
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Bohigas, O., Manubens, M., Ros, L. (2017). Singularity Types. In: Singularities of Robot Mechanisms. Mechanisms and Machine Science, vol 41. Springer, Cham. https://doi.org/10.1007/978-3-319-32922-2_2
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DOI: https://doi.org/10.1007/978-3-319-32922-2_2
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