Generic singular configurations of linkages

David Blanc, Nir Shvalb

Research output: Contribution to journalArticlepeer-review


We study the topological and differentiable singularities of the configuration space C(Γ) of a mechanical linkage Γ in Rd, defining an inductive sufficient condition to determine when a configuration is singular. We show that this condition holds for generic singularities, provide a mechanical interpretation, and give an example of a type of mechanism for which this criterion identifies all singularities.

Original languageEnglish
Pages (from-to)877-890
Number of pages14
JournalTopology and its Applications
Issue number3
StatePublished - 15 Feb 2012


  • Configuration space
  • Kinematic singularity
  • Linkage
  • Mechanism
  • Primary
  • Robotics
  • Secondary
  • Topological singularity
  • Workspace

ASJC Scopus subject areas

  • Geometry and Topology


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