Abstract
The goal of this paper is to study the behavior of general redundant manipulators near singular configurations, and investigate the escapability of redundant manipulators at a singularity. Escapability means that the manipulator can actually reconfigure itself from a singular posture to a nonsingular posture via self-motion. Criteria for the classifications of escapable and inescapable singularities are established. Examples are given to demonstrate the use of these criteria.
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