Journal of Intelligent & Robotic Systems

, Volume 62, Issue 2, pp 205–216 | Cite as

A Short Note on Point Singularities for Robot Manipulators

  • Rudi Penne
  • Erwin Smet
  • Przemyslaw Klosiewicz


We consider a specific type of singularities for kinematic chains, so-called point singularities. These were characterized in 2005 by Borcea and Streinu. We give a new proof for this result in the framework of the Exterior Algebra. As an illustration we give an exhaustive list of the point singularities of a specific robot manipulator.


Robot kinematics Singularity Exterior algebra Line geometry 


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© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  1. 1.Department of Industrial Sciences and TechnologyKarel de Grote-HogeschoolAntwerpBelgium
  2. 2.Department of Mathematics and Computer ScienceUniversity of AntwerpAntwerpBelgium

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