An elbow singularity occurs in robotic arms with a joint configuration resembling a human elbow when the arm reaches a position where it can no longer determine a unique orientation for the end effector. This situation arises due to the alignment of certain joints, leading to a loss of degrees of freedom and creating challenges in controlling the arm's movement and positioning. Understanding elbow singularities is crucial for effective velocity kinematics and analyzing static forces acting on the robotic system.
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