Hi,
I am working on a KUKA LBR iiwa 14 R820. I was tasked to find the list of all possible singular configurations of the KUKA iiwa, each defined in terms of the corresponding joint coordinates. Is there a list where I can find all the points of singularity of the iiwa?
I understand boundary singularities are usually caused by the full extension of the joint and internal singularities are caused by alignment of axes in space. Are there a finite number of configurations that can be listed out is what I wanted to know.
It be great if someone can list it out or point me to a direction where it is done.
Thanks in advance
Sujith