Encircling Singularities of a Serial Robot

Description

The four .scad files are each of a robot on which a method for encircling robot singularities to find alternative inverse-kinematic solutions is tested. The file numerics.zip contains the QR matrix decomposition Java software used to conduct the encirclement procedure. This modification of the QR solver from the public-domain JAMA linear algebra package for Java https://math.nist.gov/javanumerics/jama/ Adds option for numerically stable column pivoting for rank-revealing Reduces number of square-root evaluations in scaling operation Allows wide-rectangular matrix where rows m < columns n Calculates "full" in place of "thin" Q matrix when m > n

Steps to reproduce

The .scad files are for 3D CAD models of robots viewable with the OpenSCAD software package available from https://openscad.org/

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