Singularity-Aware Design Optimization for Multi-Degree-of-Freedom Spatial Linkages

We introduce a singularity-aware design optimization method for spatial multi-degree-of-freedom mechanical linkages. At the core of our approach is an adversarial sampling strategy, which actively detects singular configurations within targeted operation range. The detection singularities in both forward and inverse kinematics allows two-way bijective mappings between input output trajectories on optimized designs, thus enabling robust control. demonstrate set simulation examples provide additional validation physical prototypes.