Research on the kinematic singularity and the force singularity of the Stewart platform;

Kinematic model of a kind of space robot system with nonholonomic constraints was built at first, dynamic singularity of the space robot system was further analyzed, and then, the motion planning method avoiding dynamic singularity based on Lyapunov function was discussed emphatically; valuable results were obtained by a comparative simulation study.

Based on analytical analysis for the asymptotic expressions of the poles, zeros and modal parameters of a flexible manipulator, the asymptotic behavior of the dynamic singularity is discussed analytically for both zero truncated and modal truncated approximation models, and the comparison is carried out as well.

In this paper, the authors present such a better method, which is essentially the combination in a clever way of two well known methods: (1) global transformation of nonlinear system; (2) multi-time scale decomposition.