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Mathematical Problems in Engineering
Volume 2014, Article ID 735030, 9 pages
Research Article

Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2

School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received 1 March 2014; Revised 21 May 2014; Accepted 21 May 2014; Published 26 June 2014

Academic Editor: Alessandro Palmeri

Copyright © 2014 Gang Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A novel method of singularity analysis for redundant space robot with the structure of Canadarm2 is proposed in this paper. This kind of structure has the characteristics of three consecutive parallel axes. First, the “virtual manipulator” method is employed to transfer the singularity problem of a space robot to that of a ground one. By choosing an appropriate reference system and a reference point of the end-effector, Jacobian matrix is greatly simplified and then it is reconstructed according to a new standard. On this basis, the Jacobian matrix can be partitioned into four submatrixes whose degradation conditions are put forward; thereafter, the singularity conditions and singular directions of the redundant space robot are obtained. The effectiveness of the proposed singularity analysis method is verified through simulation.