Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2

Table 3

The summary of examples.

Number	Singularity condition	Joint angle	Det(𝐉𝑚⋅(𝐉𝑚)^T)
Cond1	𝑆4=0	25^∘,0^∘,90^∘,0^∘,45^∘,90^∘,0^∘	−1.06608 × 10^−14
Cond2	𝑆2=,𝑆6=0	25^∘,0^∘,34^∘,30^∘,45^∘,0^∘,0^∘	−6.80933 × 10^−14
Cond3	𝑆2=0,𝑑𝐶3+𝑒𝐶̂34+ℎ𝑆345=0	25^∘,0^∘,20^∘,140^∘,−139.1^∘,45^∘,0^∘	2.43766 × 10^−30
Cond4	𝑆6=0,𝑒𝐶̂5+𝑑𝐶45−𝑎𝑆345=0	25^∘,10^∘,−132.9^∘,140^∘,20^∘,0^∘,0^∘	2.97193 × 10^−12
Cond5	𝑑𝐶3+𝑒𝐶̂34+ℎ𝑆345=0,; 𝑎+ℎ𝐶345−𝑑𝑆3−𝑒𝑆̂34=0	25^∘,10^∘,24^∘,180^∘,−44.9^∘,45^∘,0^∘	−1.60952 × 10^−16