INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. X, No. X, pp.

X-XX

XXXX 201X / 1

DOI: XXX-XXX-XXXX

Singularity Identification and Avoidance in Parallel

Mechanisms
x [ x ,x ,...,x ] =
NOMENCLATURE AND ABBREVIATIONS

End-effector
velocity
vector
with
m
dimension

q = [ q 1 , q 2 ,..., q n ]T = Actuator velocity vector

Balaji K1 and Sreekumar M1,#

with n dimension
1
IIITD&M
Kancheepuram,
Off
Vandalur-Kelambakkam
Road,
Melakottaiyur, Chennai - 600127
= Jacobian matrix and its
J , J 1
# Corresponding Author / E-mail: msk@iiitdm.ac.in, TEL: +82-2-123-4567, FAX: +82-2-123-4567
inverse
and
second
= First KEYWORDS:
Parallel Mechanism, Jacobian analysis, Singularity avoidance, singularity identification, Kinematic configuration index.
TU 1 , TU 2
manipulating force
= Joint torque
TA
In parallel mechanisms,
degreesand
of freedom
was altered from its normal behaviour in singularity configuration. The methodology
linear length
= Angular
ito, lidentify
i
used
the singularity isdimension
observing the fallofin the
rank of a Jacobian matrix. It can be described by the joint variables with its end
effector pose. The occurance of singularities
influence
the
performance of mechanism and it controls it. This scenario consequently leads to
mechanism
unacceptable forces and torques
of
the links,
loss in stiffness are its compliance and a sudden disturbance in its control algorithm. Thus the
Desired
acceleration
=
a of singularities place an important role in design and synthesis of parallel mechanisms. Particularly the classification of singularities
analysis
d
in the spatial and planar parallel mechanism
provides
about the singularity occured in various configurations. Methods to identify
Gain matrices
ofknowledge
the
=mathematically.
,
K
theK
singularity
are
represented
Different
approaches
related to the avoidance of singularity are explained in order to avoid
P
D
control loop
algorithmic singularity. Different singularity free algorithms for various parallel mechanisms and parallel haptic devices are investigated in
this review paper.
Positional and orientation

r ,e

d , x&d

= desired angular and linear

LS
RS
SC
IIM

=
=
=
=

LS-SC

1.

Introduction

error of
platform

moving

Manuscript received: August XX, 201X / Accepted: August XX, 201X

velocity

Leg Singularity
Redundancy Singularity
Stationary Configuration
Increased Instantaneous
Mobility
= Leg Singularity leading to
Stationary
Configuration

Mechanisms and machines are developed to support and ease the

ventures of human kind. Mechanisms are a combination of links, in
which minimum of one link will the remain fixed and the rest of the
links will be in motion to do their task. It is classified into four types
based on its structure: (1) Serial, (2) Parallel, (3) Hybrid and (4)
Complaint Mechanisms. Serial mechanisms have an open chain
linkage and parallel mechanisms have a closed chain linkage. Hybrid
mechanisms are a combination of both open and closed chain linkage.
Complaint mechanisms are made of single flexible bodies
mechanism and it performs the task by its elastic deformation. Before
the development of parallel mechanism, conventional serial type is
widely used in the field of automation. Serial mechanism was also
used in applications such as pick and place, positioning, machining
operations, material handling, etc., though it necessitaties a large
workspace and dexterous manoeuvrability.The major drawbacks of
the serial mechanism are limited precision in positioning and low pay
load carrying capabilities. In order to avoid the shortcoming parallel
mechanism is employed in recent days. Eventhough parallel
mechanisms have more advantage than serial mechanisms, it also
have some technical difficulties such as occurance of many singular
configurations in working condition and compact workspace. Study
of literature reveals that, singularities in parallel mechanism designs

have to be avoided. Because, when the mechanism moves towards a

RS-SC

ACS
ALS
PCS
STS
DoF

= Redundancy Singularity leading to

Stationary Configuration
= Leg Singularity leading to Increased
Instantaneous Mobility
= Redundancy Singularity leading to
Increased Instantaneous Mobility
= Active-Constraint Singularity
= Actuated-Leg Singularity
= Passive-constraint singularity
= Static singularity
= Degree of Freedom

MLG
NLDO
P
CHDE
T
PM

= Mechanism Line of Graph

= Non Linear Dynamic Optimization
Problem
= Constraint Handling Differential
Evolution Technique
= Parallel Mechanism

LS-IIM
RS-IIM

singular configuration, its stiffness and accuracy properties quickly

deteriorate besides the change in degrees of freedom(DoF). This
review focuses on identification of singularity and methodologies to
avoid the same while operating the parallel mechanism.
The physical meaning of the kinematics singularity of a closed
loop of a parallel mechanism is changed. Mathematically it is
emphasized by using the fall of rank in inverse kinematics Jacobian.
The main characteristics issues of a singularity are torque saturation,
undesirable motion(instantaneous mobility) and breakdown of the
system. These are the main factors that influence the performance of
parallel mechanism. Therefore it is mandatory to identify the
avoidable and unavoidable singular configurations. It is the first step

2 / XXXX 201X

to frame the free path planning(tracking trajectory) and to creat the

singular free zones. This review article was organised as follows. The
singularity representation in mathematical form is discussed in detail
in section 3 with the sub divisions of 3.1, 3.2 , 3.3, 3.4, 3.5
respectively. The methodology for identification of singularity is
discussed in section 4 with a sub section based on geometric
approach, screw theory, graphical representation, singularity free
zones and path planning approaches in 4.1,4.2,4.3,4.4 respectively.
Approaches to avoid singularity are vividly explained in section 5.
The discussion and the conclusion are highlighted in the sections 6
and 7 respectively

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. X, No.X

KSPE and Springer 2011

2.

Singularity-An Overview

There are lots of review papers on the basis of its application. The
author reviews about the initial stage of parallel mechanism
inventions, due to the drawback of serial one . In 1932, the automated
spray painting machine,1 was conceptually idealized by Willard
L.V.Pollard and in 1942, his son Willard L.V.Pollard Jr. got a patent
for this machine. A universal testing machine, Autohedral hexapod
was invented by Dr.Eric Gough in 1947. In 1962, Klaus cappel
invented conventional 6-DOF vibration system based on hexapod. In
1965, Stewart demonstrated a 6-DOF motion platform which was
used as a flight simulator. Thus the gap between the industry,
academia and individual research were exhibited. The classification
of planar spherical kinematic bond of many parallel mechanism were
published2. It introduced many novel parallel mechanisms.The need
for haptic devices and the suitability of parallel mechanism for haptic
devices are discussed here.3 The haptic devices are mainly used in
medical surgical robotics and in the field of nuclear robotics to
perform the unsafe task. CRIGOS, SHaDe, SML haptic devices were
the great good examples of parallel haptic devices. The wire actuated
parallel mechanisms are also used as haptic devices, as in Falcon,
Skycam(Charlotte robots). Parallel mechanism as haptic devices
shows its success in large number of applications throughout the
world. Low inertia and high stiffness properties of parallel
mechanism matches the need of the haptic devices. The low inertia
parallel kinematic mechanism has great merits for its nano-micro
positioning and precised handling. This survey article focuses on
hexapods from a leading supplier named Physik instrumente (PI).
Here the main concentration is on the products of hexapods for the
various application such as scanning microscopy,4 image stabilization
for astronomy application,4 medical robot, photonics alignment,
satellite dish reflector and feed alignment 4. The main advantage of
hexapod is 6-DOF compactness, micro to macro alignment and
positioning.

(a) (b)

(c)

(d )

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DOI: XXX-XXX-XXXX

( e)

(f)

(g)
Fig. 1: (A)Hexapod as flight simulator4 ,(b)Satellite dish reflector and
feed alignment4 ,(c) Hexapod as medical robot4 ,(d) Shade,
(e)Hexapod application in Scanning microscopy4
(f)ABB Flexible5 automation,(g) automated spray painting machine1

(a) (b)

(c)
(d)
Fig 2: (A)3-UPU configuration,(B)SNU translation parallel
mechanism6, (C)The linear MANTA 7mechanism; (D)The linear
KANUK 7mechanism
The brilliant idea of Clavel et.al., was implementing
parallelogram in parallel mechanism to generate the structural idea of
delta robot. Parallelogram was implemented to get the output link
w.r.t the orientation of input link. Based on the delta robots,5 36
patents were created all over the world. The salient feature on the
Delta robot was its fast and quick response for the command. It was
applied for the pick and place operation.A translation parallel
mechanism(TPM) was built in Seoul national university by Tsai et
al.,. The configuration of TPM is 3-UPU, 3 limbs in which each limb
connects the base and the moving platform by universal-prismaticuniversal joint. The author proves that SNU, 6 TPM doesnt have its
architecture singularity. But due to the manufacturing tolerances and
flexibility in universal joints it posses a constraint singularity. For the

industrial material handling two novel 4-DOF parallel mechanism

were designed named as MANTA,7 and KANUK,7. The advantage of
this parallel mechanism is its high stiffness through multiple
kinematic chain for low mass design. These mechanisms are applied
in the field of automated ware house manipulation, media theque
manipulation, machine tool changers, and loading and unloading.
Moreover the parallel mechanisms applications are achieved in
mining machines, walking machines, both terrestrial and space
applications including areas such as high speed manipulation,
material handling, motion platforms. It is also used in the field of
machine tools, medical fields, planetary exploration, satellite
antennas,8 haptic devices, vehicle suspensions, variable-geometry
trusses, cable-actuated cameras and telescope positioning systems and
pointing devices.

3 Singularity - Mathematical Modeling

3.1 Jacobian matrix
The Jacobian matrix, J or simply Jacobian is defined as an
matrix that transforms the joint rates, in the actuator space
(n - dimensional) to the velocity state, in the end- effector space (mDimensional). Thus given the joint rates, we can compute the endeffector velocities directly. In a trajectory planning problem, however
the end-effector velocities are usually given along a desired path in
the end effector space and these velocities must be converted into the
joint rates in the joint space.9 This requires a computation of the
inverse transformation of J .
For a 6 dof spatial manipulator for which m = n = 6, the
Jacobian matrix is a 6 x 6 square matrix. For a manipulator with a less
than 6 dof, the end effector velocity state may contain just the linear
velocity vector, or the angular velocity vector, or a combination of
both linear and angular velocity components. In case of planar
manipulators (two dimensional space), a three component vector
T
x&= [v x , v y , v z ] is sufficient to describe the velocity state of the
end effector. Here the Jacobian matrix is a 3 x 3 matrix. Similarly for
T
a point positioning device x&= [ v x , v y , v z ]
and for a body

m n

T
orienting mechanism, x&= [ w x , w y , w z ] .
For deriving a general expression for Jacobian matrix, the
following procedure can be followed. Let x = f ( q1 , q2 , K , qn ) ,
i = 1, 2, K , m be a set of equations, then
x&=

f
q1

q2

x&2

x&m

q&2

f1

f1

q1

q2

q1

q2

fm

f m

q1

q 2

x&
1

q&
1

f 2

f 2

f
q3

K
K
O
K

q&3 K

f1

f
qn

q&1

f 2 q&
2

qn

M
M

f m
q&
n
qn

qn

q&n

(1)

(2)

4 / XXXX 201X

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. X, No.X

Or simply, x&= Jq&. Hence q&= J 1 x&.

J q ,a parallel manipulator is said to be asingular configuration when

3.2 Singularity Analysis

At Certain Manipulator Configurations, The Jacobian May
Lose its full rank or otherwise the determinant | J | is equal to zero
and this configuration is called singular configuration. For the parallel
manipulator, let the actuated joint variables be denoted by the vector,
q and the location of the moving platform be described by a vector,
x.Then the kinematic constraint imposed by the limbs can be written
in the general form f(x,q) where f is an n- dimensional implicit
function of q & x and 0 is an n - dimensional zero vector velocity as
follows
(3)

J x x&= J q q&

where J x =

f
x

, Jq =

f
q

1
, q&= J q J x x&= Jx&

Due to the existence of two Jacobian matrices J x and

either J x or J q ,or both are singular. Hence the parallel manipulator

possesses three types of singularities namely Direct, inverse and
combined singularities.
3.3 Classification of Singularities
Direct Kinematic Singularity occurs when the determinant
of J x is equal to zero, Inverse Kinematic Singularity occurs when
the determinant of J q is equal to zero and Combined Singularity
Occurs when the determinants of J q and J x are both zero. In direct
kinematic singularities the moving platform can posses infinitesimal
motion in some directions while all the actuators are completely
locked. In inverse kinematic singularities the end effector cannot
accomplish certain motion. Hence it loses one or more degrees of
freedom. In combined singularities, it experiences both the above
singularities in combined manner. A hierarchial relation between the
singularities were proposed based on the actuation and unactuation of
kinematic chain10 which is given in Fig.3.

Fig. 3 Hierarchical relationships between the main critical phenomena occurring in the actuated and the unactuated kinematic status

3.4 Condition Number

For manipulators with only one type of joint and for manipulators
with one type of task like point positioning or body orienting, but not
both, the Jacobian matrix characterized by a measure called condition
number. It is applicable only when the Jacobian matrix is non singular
x on
(i.e., det ( J ) 0 ) Assuming there is a certain velocity error, &
&

q
the actuated legs and some velocity errors,
in the moving
platform.
1
(4)
q q&= J ( x& x&)
q&= J

1 &
x

(5)

According to the matrix theory and using the previous

equations, the relationship between the relative error of q

and x
can be expressed as follows

q
q&

<|| J || . || J

|| .

(6)

x&

Where || . || is norm matrix of a vector.

From the above expression || J || . || J 1 || , is just the condition
number C(J) of the Jacobian matrix .which can be written as cond(J)
or simply C(J).This parameter is an amplifying factor of the

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kinematic errors of linear actuators to the moving platform. So the

condition number of the Jacobian matrix can be used as an optimal
design performance index for higher accuracy tracing, for which the
condition number should be minimum in the whole work space.

3.5 Point of Isotropy

The Condition number of the Jacobian matrix depends on the link
lengths and the manipulator configuration. As the end effectors move
from one location to another location, the condition number will
assume different values. The minimum condition number of any
matrix is one .Those points in the workspace of a manipulator where
the condition number of the Jacobian matrix is equals to 1 is called
isotropic points or the point of Isotropy .The condition of isotropy
shall be applied to both the matrices separately or to the combined
matrix J . If the isotropic condition is satisfied then the Jacobian
matrix will be proportional to an identity matrix, namely

where

J TX J X = 2 I

(7)

J QT J Q = 2 I

(8)

is an identity matrix and

and

4.1 Geometry Based Approach

are Scalar 6.

3.6 Configuration Index

The Aspect of Singularity and isotropy can be related with a term
called configuration index. The Configuration Index is expressed as

KCI(J) = [1 / Conditionnumber(J)]100%

(a) (b)

(9)

A matrix with a KCI of 100 % is isotropic while that with a

KCI of 0% is singular. Hence it can be inferred that a KCI makes a
matrix closer to isotropic condition and a lower KCI makes it closer
to singularity11.

4 Singularity Identification Methodologies

The methodology to identify the Singularity identification
of parallel mechanism is classified as follows:

( c)

(d)

Fig. 5: (a) 3-RPUR12, (b) Five-bar parallel mechanism13, (c)

Selectively Actuated Parallel Mechanism17 (d) CaPaMan
Manipulator19

Fig.4. Classification of singularity identification

A novel 3-DOF 3-RPUR,12 translation parallel mechanism

was proposed and its kinematic problems were analysed. In a five-bar
parallel mechanism,13 the singularity was identified and analysed. The
non-linear tracking controller was designed for this mechanism. The
classification of singularities were enumerated and analysed, based on
the Jacobian matrix derived from loop closure equations. Based on
the dynamic model, a non-linear tracking controller was designed to
eliminate the tracking trajectory error. Comparison of performance
between the proposed controller and augmented PD controller was
carried out. For the simulation of spinal column motion a 5-DOF
3R2T,14 symmetrical parallel mechanism was used. The kinematic
study of this mechanism leads to the singularity identifications. The
wrist (or) hip joints of a humanoid robots are modelled as spherical
parallel mechanism. A 2 DOF RR-RRR-RRR,15 spherical parallel
mechanisms direct kinematics were analyzed. Based on the loop

6 / XXXX 201X

closure framed equations forward displacement analysis had been

presented, for all general parallel mechanism, 16 and the singularity are
classified based on the Jacobian matrices in to 3 groups. By using
various configurations of limb combinations such as PRR,PPR,RRR
& RPR, 20 different class of parallel mechanism were constructed. A
3 limb Selectively Actuated Parallel Mechanism,17 configuration was
designed. Based on the method of actuation, the movable platform of
the mechanism is able to achieve 3-DOF spherical motion or 3-DOF
translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion
This mechanism architecture decouples translation and rotation of the
end-effectors for individual actuator control. Based on geometry,
Singularity analysis of the mechanism configuration was presented
for all actuation schemes to facilitate the kinematic design of the
manipulator.A new spatial rotation 4-SPS-1-S parallel mechanism18s
singularity configurations were analyzed. Inverse kinematics and
velocity mapping equations of the mechanism were formulated, by
the framed Jacobian matrices(J). These were used to detect the
singularities of the mechanism. The transformation between end
effector (output) velocity and Joint space (input) velocity was
computed. The square root of determinant of JJ T matrix was adopted
as an actuating performance index. Based on the study about the
configuration of singularities, two different methods algebraic
formulation and vector analysis approach used in CaPaMan
manipulator,19 was presented. The formulation can be given
singularity related to the failure of the kinematic model at particular
configurations of the mechanism was shown . It was proved that this
type of singularity can be avoided by a proper analysis of the
problem.
A new spatial three-degrees-of-freedom parallel
mechanism,20 was proposed. This parallel mechanism consists of
three connecting limbs between base and moving platform. The
velocity equation of this parallel mechanism is determined from The
inverse and forward kinematics problems they were given in closed
forms. The three types of singularities were also presented. Finally,
topology architecture was introduced.The translational 3-URC,21
made the platform translates with respect to the base. This mechanism
belonged to a set of mechanisms with topologically equal 3-URC
architectures that contains another mechanism behaving as a spherical
parallel wrist. This Parallel mechanism (nearby or at the point)
experienced different types of singularity, due to counteract external
forces in certain directions and so it loses the ability. The singularity
determination problem was focused from a geometric perspective for
planar and spatial three-legged parallel mechanisms,22. Thus
necessary condition for the unstable singularities, the constraints on
the passive joint velocities were derived. By using this condition,
singularities can be found for certain type of platforms. The study
about distribution of actuator singularity, can be applied to analyze
end-effector singularity. The redundancy of the parallel mechanism
was used for designing Optimal kinematic and dynamic control
algorithms,23. The singularity-free fully-isotropic parallel mechanisms
(PMs) were presented with four degrees of freedom T2R2-type, 24.
The theory of linear transformations based method was proposed for
structural synthesis of fully-isotropic in this PM. According to force
and motion transmission capabilities, this mechanism performs very

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. X, No.X

well with the condition number as the determinant of the Jacobian

matrix being equal to one. In this paper various singularity-free
algorithms, which are appropriate to parallel haptic system25, are
discussed. Furthermore, to overcome singularity problems, a new
design including redundant actuation is proposed. The combination of
two parallel mechanisms with a central axis, A double parallel
mechanism,26 has been designed. The mobility of the mechanism was
decoupled by the central axis. So it was constrained. This leads to
simplicity in geometric constraints but it needs a novel strategy in the
mechanism analysis.

(a)

(b)

(c)

(d)

(e)

(f)

(g )

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XXXX 201X / 7

DOI: XXX-XXX-XXXX

\
(b)

(h)
Fig.6 (a)Spatial Parallel mechanism 20,(b) 3-URC- parallel
mechanism21,
(c) C5-Parallel Robot29, (d) HALF Parallel
27
manipulator (e) 3-RPS Parallel Manipulator 30,(f) 3 R RRR
spherical parallel manipulator31,(g) Parallel spherical wrist
Mechanism 32,(h) double parallel mechanism
Based on the geometric constraints, the inverse/forward
kinematics and Jacobian to be implemented in real time position and
velocity controls were developed by the formulation. The singularity
of the HALF parallel mechanism 27 with revolute actuators was
analyzed With and without actuation redundancy.The singularities
Classification of a two-degree-of-freedom planar parallel
mechanism,28 were studied respectively. In this study the analytical
relationships between the link lengths of the two mechanism and
characteristic shapes and distribution of the singularities are
illustrated. The equations of the singularity curves are developed,
based on Jacobian matrix of the kinematic transformation. The results
have reference value in the singularity-free trajectory planning and
control. A new parallel mechanism configuration with six degrees of
freedom is proposed29. This device is well adapted to perform force
feedback control, and under some conditions, it can be fitted with a
center of compliance. This mechanism is designed to obtain a
symmetric and compact structure. The damped least-square method is
used to solve the singularity problem of resolved-acceleration control
schemes. It works by damping accelerations of the end-effector, so
that accelerations in the degenerated directions are zero at a singular
point. The control using damped velocity, being called the dampedrate resolved-acceleration control scheme,30 (DRRAC) is proposed to
overcome this drawback. The main advantage of the DRRAC in the
3RPS parallel manipulator control system is not to plan its path to
avoid the singular point, and could improve the workspace.

(a)

(c )
Fig.7 (a) 3-RPRR Mechanism39; (b) 3-URS Mechanism35,,(c)Eclipse
II43
The determinations of singular configurations of a 3-( R )RRR
spherical parallel manipulator,31 were focused, in which R and R
denote the actuated and unactuated revolute joints respectively. A new
kinematic design of a parallel spherical wrist mechanism,32 with
actuator redundancy was proposed . The actuator redundancy not only
removes singularities but also increases workspace, on improving
dexterity and it was shown using detailed kinematic analysis. The
structure optimization has been performed with a global dexterity
criterion. Using a conditioning measure, a comparison with a non
redundant structure of the same type was performed. It shows that a
significant improvement in dexterity has been obtained. A new 4legged redundantly actuated UPS parallel mechanism,33 was
proposed. In that proposed mechanism Kinematic redundancy,
Kinematics, Singularity and dynamics analysis were analyzed . The
effect of constraint singularity in a spatial parallel mechanism, 34 was
studied. These mechanism35 comprises two platforms connected by
three legs, each being composed of one universal (U), one revolute
(R) and one spherical (S) joints, which gives the manipulator six
degrees of freedom. Hence, two actuators are required per leg. The
differential kinematic relations between actuator joint rates and
mobile-platform twist were derived. A new numerical procedure,37 for
3UPU and 3UPS spherical wrists, that could count and identify the
disjoint regions was identified the workspace is partitioned by the
singularity surface and to assess to which region any two points of the
workspace belong. If the two points belong to the same region, a
singularity-free path connecting them is found.The force redundancy
is studied as the series or parallel dual concept of kinematic
redundancy and its implications in kinematics and dynamics of
parallel manipulators38 were described.
Numerical studies39 are also presented for two parallel
manipulators to demonstrate the singularity reduction by a single
degree of redundancy. singularity avoidance of the 3-RRR
mechanism(Fig. 15(a)) using kinematic redundancy was presented.

8 / XXXX 201X

The singularity analysis of the proposed 3-RPRR, 39 mechanism was

described and a simple and effective redundancy resolution algorithm
based on local optimization suitable for real-time control was
developed. The principle of the singularity elimination of the Stewart
Platform42 was mainly addressed. By adding appropriate redundant
actuation, the rank of the Jacobian matrix of the platform is always
full, accordingly the singular value of the Jacobian matrix of the
platform is non-zero. Then the singular configuration of the platform
can be eliminated by adding one redundant actuation and also the
performances of kinematics and dynamics of the platform can be
greatly perfected by adding appropriate redundant actuation.
This 6 DoF parallel mechanism 43 was developed to eliminate
the kinematic complexity of Eclipse II, redundant parallel
mechanism. To achieve the desired motion trajectory, it needs a
motion planning control algorithm. For the effective control over
motion plan and continuous 360-degree rotational motion, modified
redundant parallel mechanism was created. The singularities are
classified in to architecture, configuration, formulation singularities.
The architecture singularity mainly influence over the spatial parallel
mechanism44, it usually spans over the whole workspace or significant
part. So it is very difficult to control and apply singularity avoidance
strategies. The tripod45 such as UPS,RPS and RPR are modelled in
MSC ADAMS and are simulated. The simulation results are obtained
by considering the geometrical parameters, Transmission angle of the
link and Singularity of the mechanism. A singularities avoidance
method46 suitable for the trajectory planning of redundant and nonredundant robot manipulators was proposed. This method was based
on establishing proper bounds for the rate of change of the Jacobian
matrix of the transformation between the joints speed and end effector
Cartesian speed. An analytic expression for the singularities of sixdegree of freedom Stewart-platform type parallel manipulator(sixDOF SPM) is obtained using the concept of local structurization
method47 (LSM) with extra sensors. By comparing it with previously
reported singularities the exactness of the singularity was verified.
The actuator relocation effect on singularity, Jacobian and kinematic
isotropy performance of parallel Mechanism48 were compared. It is
mandatory to study the effect on the Jq and Jx as parallel mechanism
consists of several serial legs. It is done when actuator in each leg of
the parallel robot is mounted remotely and the actuation joint is
driven through a transmission. The effect of both transmission ratios
and actuator location on Jacobian, and singularity were analyzed.
Finally the effect of actuator relocation on kinematic isotropy
performance was illustrated. To optimize the kinematic performance
of parallel robots, this actuator relocation can be used.
A global explanatory approach49 is used for the better
understanding of non-singular assembly-mode changing motions for
3-RPR planar parallel manipulators. A sequential design method 50is
explained, in which two arms are designed first to satisfy workspace
requirements, then the third arm is designed to provide a singularityfree workspace.The forward singular configurations in many parallel
manipulators is easily obtained by a geometrical approach, namely
Constraint Plane Method51 (CPM). CPM is a methodical technique
based on the famous Ceva plane geometry theorem. The new
architecture of manipulator52 is addressed with its Geometrical

INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING Vol. X, No.X

structure and mobility analysis Then the forward and the inverse
kinematic problems of the manipulator is analyzed. Based on
Grassmann-Cayley algebra53, a different approach for analyzing
singularities of parallel mechanism, is based on inspecting the
actuators line dependencies by use of a matrix called the super
bracket, which is similar to the Jacobian matrix and contains Plucker
coordinates in its columns is used. Using this method the singular
configurations occur precisely, defined by the positions of the joints.
A new method 54to define closeness to singularities based on
constrained optimization and its resulting general eigenvalue problem
was proposed. Stiffness analysis for redundantly actuated parallel
mechanism55 (Eclipse-IA) is introduced. The relationship between
the new structure and the stiffness properties including determinant
and isotropy of the respective stiffness matrix was verified.

4.2Screw theory based approach

(a)

(b)

(c)

(e)
(f)
Fig.8 (a) spatial hybrid mechanism 62,(b) 5- DOF Haptic

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interface66,(c) 3-RUPU65, (e)3-RPS59(hyper,redundant PM) (f)3-UPSPPS58,

Based on the theory of screw and reciprocal screws, 56 some
developed kinematic chain were analysed. The Jacobian analysis of
the parallel mechanism was also investigated using this theory. Based
on the Jacobian ,the singular configurations were identified. A new
analysis40 of wrench singularities was presented for spatial parallel
platform manipulators consisting of three legs, with up to two
actuators each, and connected to the mobile platform by spherical
joints. The wrench singularities were identified using characteristics
of tetrahedron. A geometric interpretation of wrench singularities was
proposed by a theorem. A 5-DOF decoupled parallel mechanism57 is
approached. In this mechanism the construction has 3 peripheral
limbs and one central limb. The peripheral limb consists of two
prismatic joints, one revolute joint and one spherical joint. The central
limb consist of 2 prismatic and a spherical joint. Using Sylvester di
alytic elimination method. The forward displacement analysis and
dynamic characteristics was derived and analysed, using screw
theory. By the use of Klein form of the lie Algebra a SE(3) velocity
and reduced acceleration state were derived. The kinematic and
dynamic analysis of a modular spherical hyper redundant
mechanism58 was solved based on the screw theory and also virtual
work is also used. Finally this methodology is applied to 18 DOF type
redundant mechanism. Based on index of power, a strategy is
implemented for the safe drive of hexa parallel robot, 59 in machine
supervision. The index of power is derived using power inspired
measure using screw theory. The framed strategy is also verified
experimentally.
The structural synthesis of 4 DOF and 5 DOF over constrained
parallel mechanism60 with identical limbs were developed using a
systematic methodology. The geometric condition of these
mechanisms are analysed by the help of screw theory and reciprocal
of screw theory. A novel 4 DOF novel parallel mechanism61 to
achieve the schoenflies motion in its output link was proposed to
attain the desired direct and inverse Jacobian. To solve the singularity
difficulties of spatial hybrid mechanism62, methodologies were
proposed.
An algorithm63 was proposed for tracking the trajectory, to follow
a continuous path of a redundant parallel mechanism . In this
algorithm the singularity avoidance is assured during its achievement
of task. Direct kinematics of the 3-RPS 64 was analyzed using
Sylvester dialytic elimination method with some numerical examples.
The forward position analysis of parallel mechanism with identical
limb such as 3 RPS configurations was predicted by the Sylvesterdialytic elimination method. Then the velocity and the acceleration
analysis of the mechanism was carried out. The force analysis and
deformation analysis of 3-RUPU65 were presented using screw theory.
And based on the stiffness analysis, two global index were referred as
maximum and minimum singular values of that compliance matrix
which is used to evaluate the compliance of parallel mechanisms. A 5DOF translating parallel haptic device66 was presented. This device
devolpment was analyzed in detail from the development of
kinematic synthesis to the static dynamic behaviour based on its

screw theory. The twist of movements inside the workspace of

parallel mechanism67 was also considered as in singularity. (N-1)
twists exist for N-DOF mechanisms.

4.3 Graphical representation based approach

To identify the singularities in planar parallel mechanism 52,the
graphical representation is used along with screw theory and virtual
work principle methodologies. based on Graphical representation,
MLG67 (mechanism line of graph)is used to find the singularities of
planar parallel mechanism.

4.4 Singularity Free Path Planning approaches

A numerical technique41 for path planning inside the reachable
workspace of parallel manipulators to avoid singularity was proposed.
A genetic numerical algorithm was described for generating the
reachable workspace of parallel mechanism. The singularity points
are determined, grouped into several clusters and modelled as
obstacles. A path planning algorithm is used to identify an optimal
path avoiding these singular places..In general the main task for the
parallel mechanism is to move the end effector(moving
platform)without any interference.for tracking the trajectory of
moving platform in singularity free zone some methodologies
proposed. In 3 RPR parallel mechanism49 singularity surfaces are
calculated and a method was proposed to determine the maximal joint
space singularity free boxes of this configurations and the planning
trajectories are highly focused. For the general planar parallel
mechanism,two singularity free path planning algorithm68 are
illustrated.In which,the first one is deviated from specified path and
its computation time is high. The second one is highly efficient but
failed to utilize the available leg forces. The singularity free zones of
planar parallel mechanism, using the force transmission factor, 69 was
also defined. To indicate the force transmission, the pressure angle is
used. To attain the optimal control of the pressure angle of the given
trajectory, leg with variable structure was utilized. Using 3RPR
configurations this singularity free zone procedure was illustrated
with numerical simulations. To construct a continuous path within the
work space of the Stewart platform, an algorithm, 70 was framed by
avoiding singularities and ill conditioning. Using the final and initial
end pose of the Stewart platform, the proposed algorithm will plans a
smooth continuous path. If both the poses are in different branches,
then the algorithm indicates the impossibility of a valid path. This
path planning strategy was illustrated using numerical example. The
design of 5R (2 DOF) parallel robot71 with its controller was stated as
NLDOP.In order to track a desired trajectory with singularity
avoidance a (CHDET) was used. The effectiveness of this proposed
approach was illustrated through numerical simulations. In this
singularity free proposed algorithm72 ensures the singularity
avoidance during the task achievement. This algorithm also change
the working mode based on its feasible map configurations. A case
study was analyzed to present the effectiveness of the proposed
algorithm73. Based on the two search mode in singularity free path
planning such as depth search mode and width search mode an

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algorithm was framed to avoid the obstacle and collision free path
plan.

Where J% = J { I J J } and
is an arbitrary
2
2
1 1
vector.The general solution of TA is expressed as

% %
TA = J1 TU 1 J%
2 {TU 2 J 2 J1 TU 1} { I J 2 J 2 } x

(14
)

Since { I J J } is idempotent.
1 1

5.2 Chiaverinis Algorithm

In general, there are two kinds of singularities Kinematic
singularity and algorithmic singularity, when solving inverse
kinematics. The kinematic singularity occurs when
(15
)

rank ( J1 ) < m1 or rank ( J 2 ) < m 2

Whereas the algorithmic singularity occurs in either

R ( J1 ) R ( J 2 ) or N ( J1 ) N ( J 2 ) when m2 n m1

Fig.9. Singularity Free Path Planning algorithm73

5 Singularity Avoidance Approaches

For the above mentioned parallel mechanism configurations,
following are the proposed singularity avoidance approaches are
practically used to avoid the algorithmic singularities.
Nakamura algorithm25
Chiaverinis Algorithm25
Choi S algorithm25
Damped Least Square Method25 & 30
Kinematic redundancy40
Damped rate resolved acceleration control
method30
The paper deals about the conversion of previously
developed Kinematic based task-priority algorithms to force-based
task-priority algorithms to cope with the singularity problems of
parallel haptic system25.

5.1 Nakamuras Algorithm

Relationship between the manipulating forces and joint torque are

as follows:
TU 1 = J1TA

(10
)

TU 2 = J 2TA

(11
)

Where J1 Rm n and J 2 Rm n denotes the Jacobian matrix

1
2
for the first and secondary task respectively.
The General Solution of eqn.10 is expressed as

(12
TA = J1 TU 1 { I J1 J1}Z
)
Where

is the pseudo inverse of

J1

and

is an

arbitrary vector which satisfies some secondary requirement.

Minimizing the secondary task error || Tu 2 J 2TA || in
the least square sense, yields:

% %
Z = J%
2 {TU 2 J 2 J1 TU 1} { I J 2 J 2 } x

(13
)

(16
)
Where R(*) and N(*)represent the range space and null
space of matrix *, respectively. The general solution of TA eqn.14. is
not acceptable near singularities. So, to eliminate the algorithmic
singularities in Nakamuras method, Chiaverini modified eqn.14 as
follows:

TA = J1 TU 1 { I J1 J1 }{ J 2 TU 2 { I J 2 J 2 } z }
(17
)
Nakamuras algorithm does not have any task error in the
normal case while Chiaverinis algorithm has the secondary task error

with the expectation of the case when J J = 0 . Thus, there exists

2 1
trade-offs between the two algorithms.

5.3 Chois Algorithm

Choi proposed an algorithm to reduce the secondary task error

found in Eqn. (17) . Choi modified Eqn. (17) as follows:

TA = J1TU 1 {I J1 J1}{ J 2TU 2 {I J 2 J 2 }z} (18

1 T
1 T 1
Where J = W J ( J W J ) .
w
1 1
1
Eqn. (18) will have no algorithmic singularities if the
weight matrix is chosen to be a positive definite matrix as follows:
(19
T
T
W = J1 J1 J 2 J 2 I > 0
)
Although Eq. 18 tend to contaminate the performance of
the secondary task with a small positive number
.

5.4 Damped least square method

The pseudo inverse of any matrix A R mn can be given by,

T
(20
A = V U
)
Where U R

mn

and

V R

nn

are orthogonal

matrices.The matrix R mn has the block matrix

S = diag(1 ,, r ) R
square method, given by

rr

, r = rank(A).

+
T
A = V U

The

-1
S
0
0 0

damped

and

least(21
)

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Where =

S =

S
0

nm

and

m
mm
2
2 ,, 2
2 R
1 +
m +

Fig.10. Damped rate resolved acceleration control method 30

.If is much less than the smallest non-zero singular value of

6 Discussion

then TA is approximately the minimum norm solution. As a singular

value approaches zero, S reaches maximum when = and
then decreases rapidly to zero and increases when || T ||
decreases monotonically. This fact can be promoted to find solutions
subject to joint torque limits.

5.5 Kinematic Redundancy Resolution Algorithm

The singularity avoidance approach is simple and effective
redundancy. Mainly in this approach, the end effector singularity can
be avoided. By using this method the singularity free workspace can
be highly utilized. For the repeatable and accurate trajectory path
generation of the end effector this algorithm approach is used.
Procedure for Kinematic Redundancy Algorithm:
Compute Initial pose(P) of the End effector, Calculate
its Jacobian matrix [A] using its given initial joint space variable.
Assume the desired end pose(P k) of the end effector and
then calculate its Jacobian matrix (A K ) using its given initial joint
space variable.
Compare the Jacobian matrix [AK] with least constant
value (). If it is greater than , then check with joint space variable
else if it is less than determine the feasible joint space variable with
its constraint ( l i1,k 1 l i1 l i1,k l i1,k 1 li1 ).
Using the above feasible joint space variable calculate
the Jacobian matrix.
Optimize the joint space variable based on the
determinant of Jacobian matrix.
Compute the angular values for end position.
Repeat step 1 to 5 by assuming the current end position
as starting point end effector.

5.6 DRRAC Control Method

This is one of the singularity avoidance approach in 3-RPS
parallel mechanism. By using this singular avoidance approach it
could improve the workspace of the mechanism, DRRAC30 is
asymptotically stable. This method is simple schematic, high quality
solution and better computation efficiency.

Based on this review work,the parallel mechanisms which posses

singularities are focused.The hierarchical relationships and the
classification of singularities based on the actuation over kinematic
link chain are tabulated. Among the singularity identification
methods,mathematically represented method such as Jacobian
analysis, point of isotropy,conditioning number,and configuration
index are discussed. The singularity identifications of different
parallel mechanisms configurations are highlighted, based on the
geometric approach, screw theory, graphical approach which is used
to identify. The singularity avoidance approaches such as Nakamura
Algorithm, Chiaverinis Algorithm, Chois algorithm, Damped Least
Square Method, Kinematic redundancy and Damped rate resolved
acceleration control method are explained and implemented to avoid
the algorthmic singularities .

7 Conclusions
In this work, the parallel mechanism are focused and critical
aspects such as singularity identification and avoidance, and also
about the singularity free path planning approaches have been
elaborately discussed. The performance of the singularity
identification and avoidance system mostly depends upon the type of
controller. Literature confirms that the controller plays a vital role in
singularity identification and in avoidance. Though the time
consumed by the system is not explicitly mentioned in the literature,
method utilizing Kinematic configuration index, Point of isotropy
definitely consumed less time compared to other methods.

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