Abstract
The paper presents the description of the singular loci for a parallel robotic system designed for transperineal prostate biopsy, using algebraic geometry. Singular configurations define the conditions where a robot has an uncontrollable behavior, by losing or gaining degrees of freedom, and must be avoided in exploitation. The proposed approach ensures the complete description of all mathematical singular configurations with a double role, for enabling structural optimization, and a real-time PLC configuration as a fail-safe tool for the robot during exploitation. The method used for singularity analysis uses Study parameters to obtain the mathematical model, and algebraic geometry to solve the model. A clear separation is made between the theoretical singularities and the physically possible ones, and the findings of this research are compared to previews research regarding the parallel robot presented in this paper.
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