2.3. Singularity
1.Concept
Singularities occur when the axes of any two joints of a robotic arm
are on the same straight line. At the singularity point, the robot's
degrees of freedom will be degraded, which will cause the angular
velocity of some joints to be too fast, leading to loss of control. A
common situation is that when the wrist joint (the penultimate one)
is at or near the axis of the first joint, singularity point will
also appear (see Figure 2.1), so the robotic arm should try to avoid
passing directly the central area near the base, which is likely to
cause 1st Joint speed too high.
