Serial manipulator

Serial manipulators are the most common industrial robots and they are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector.

The main advantage of a serial manipulator is a large workspace with respect to the size of the robot and the floor space it occupies.

A singularity is a configuration of a serial manipulator in which the joint parameters no longer completely define the position and orientation of the end-effector.

Singularities occur in configurations when joint axes align in a way that reduces the ability of the arm to position the end-effector.

A redundant manipulator has more than six degrees of freedom which means that it has additional joint parameters [3] that allow the configuration of the robot to change while it holds its end-effector in a fixed position and orientation.