As singular values change their values smoothly around singularities, so do joint coordinates.
There have been many such moments, which are more significant in the aggregate than in their singularity.
This coordinate should assume a meaningful value before and after a singular configuration and allow to pass the singularity without stopping the manipulator.
The singularity of the potential causes an asymptotic behavior in the vicinity of a c for the amplitude.
Generic 3-parameter families of vector field on the plane, unfolding a singularity with nilpotent linear part.
However, aforementioned studies concern only the kinematics of singularity-free path-planning.
The nondegenerate actuator singularity could be overcome by arranging correctly each joint input velocity.
The model was based on the solution of a number of linear equations, which produce a smooth potential and have no singularities.
