The book "Singularities of Robot Mechanisms" offers a comprehensive analysis of the singular configurations associated with robotic machines. It presents robust methods for calculating, interpreting, and planning avoidance paths that are essential for the smooth operation of robots. Singular configurations can determine the workspaces and motion constraints of a robot's mechanical structure. A standout feature of this work is the applicability of the methods to non-redundant mechanisms of general architecture, which are connected by planar or spatial kinematic chains. Furthermore, the interpretation of singularities as silhouettes of the configuration space from the input or output spaces leads to a deep understanding of the effects of traversing singular configurations. The solutions presented are based on effective methods such as branch-and-prune and numerical continuation techniques, which are also of interest independently of this context. Practical applications are supported by an accompanying website that provides open access to implementations of the algorithms and the corresponding input files. This allows readers to gain practical experience or analyze new mechanisms beyond those discussed in the text. Overall, the book offers new tools for robotics design and serves as a central knowledge source that is scattered throughout the literature.

• Comprehensive analysis of singular configurations of robots
• Robust methods to avoid operational issues
• Applicable to non-redundant mechanisms of general architecture
• Accompanying website with practical implementations.