Could some one help me in connecting dots?
Singularity -
1. Absence of required DOF
2. Presence of unwanted DOFs
3. Structural constraints of Robot
4. Jacobian matrix loosing a dimension. (Singular matrix for inversion - Path planning)
All these four are different or inter connected? If connected how they are connected?
Is there any case where robot can reach a position during position control but cannot reach during velocity control?