... been proposed, and the impact of link parameters on constraint singularity loci of such TPMs has not been systematically investigated. The advances in computing comprehensive Gröbner system (CGS) or Gröbner cover of parametric polynomial systems provide an efficient tool for solving this problem...

.... The rotation axis is situated in the plane of translation and can bifurcate in two orthogonal directions. This bifurcation occurs in a constraint singularity in which the connectivity between the moving and fixed platforms increases instantaneously, incurring no change in limb connectivity. The Jacobian matrix...

... determines whether the reference pose is at a constraint singularity and resolves the mobile paths at that singularity. Those results are now extended to a platform manipulator with more than two chains, using a recursive procedure for updating velocity, acceleration, and higher-order descriptions...