A Robot Singularity is a configuration of a serial or parallel robot manipulator at which the Jacobian matrix loses rank, causing the determinant to approach zero. At a singularity, the robot loses one or more degrees of freedom in Cartesian space: it cannot produce force or motion in certain directions, and inverse kinematics solutions become ill-conditioned or non-unique. Singularity avoidance and detection are central problems in motion planning, trajectory generation, and real-time control of robotic arms.
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A Robot Singularity is a critical configuration in manipulator kinematics where the Jacobian matrix becomes singular, constraining workspace mobility. Understanding and avoiding singularities is essential for safe, efficient robotic motion planning and real-time control.