Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A study of the singularity locus in the joint space of planar parallel
  manipulators: special focus on cusps and nodes   Cusps and nodes on plane sections of the singularity locus in the joint space
of parallel manipulators play an important role in nonsingular assembly-mode
changing motions. This paper analyses in detail such points, both in the joint
space and in the workspace. It is shown that a cusp (resp. a node) defines a
point of tangency (resp. a crossing point) in the workspace between the
singular curves and the curves associated with the so-called characteristics
surfaces. The study is conducted on a planar 3-RPR manipulator for illustrative
purposes.

25
The categories of this paper are: patt-sol
16
The categories of this paper are: stat
4
The categories of this paper are: cond-mat
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
11
The categories of this paper are: hep-lat
30
The categories of this paper are: q-alg
9
The categories of this paper are: nlin
6
The categories of this paper are: astro-ph
26
The categories of this paper are: bayes-an
37
The categories of this paper are: supr-con
27
The categories of this paper are: comp-gas
28
The categories of this paper are: alg-geom
34
The categories of this paper are: chem-ph
3
The categories of this paper are: physics
15
The categories of this paper are: nucl-ex