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I am working on kinematics of 5-DOF robot. I already derived geometric Jacobian for position and orientation control.

But for singularity analysis, I require a simplified jacobian. And that can be obtained on base of screw theory called Screw Based Jacobian.

But I am not able to find the method to obtain screw based jacobian matrix; which completely explain the method to derive screw based jacobian.

Any advice on where I can get it? Please help me out.

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The geometric Jacobian provides all the information you need for singularity or manipulability analysis. Linearly dependent columns correspond to joints with parallel axes. More information about Jacobians for under-actuated manipulators (as is your case) can be found in my book Robotics, Vision & Control" section 8.4.1.

For information about computing the "screw based Jacobian" check out the book Modern Robotics by Park&Lynch.

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