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In this paper we will be discussing the singular configuration of CRS arm robot. Usually, in an open control scheme it is not that important to study your arm robot singularity as you can adjust your path as needed but in our visual servoing application which is considered a closed control scheme, it is very important to study your arm singularity and thus be able to avoid it or control the arm around these points.

Study of CRS 5 DOF Jacobian and Simulation of it’s Singularity Using GA