Multi-body singularity equations

Technical Report (2010)

IRI code



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On how to obtain the equations for computation with CUIK.

This technical report explains how to obtain a system of equations that encodes the singularities

of a multi-body system with respect to some of its configuration variables. The system is

obtained in a way that makes it appropriate for the CUIK software.


manipulators, robot kinematics.

Author keywords

singularities, multi-body, CUIK

Scientific reference

O. Bohigas and L. Ros. Multi-body singularity equations. Technical Report IRI-TR-10-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2010.