Szukana fraza: [Abstract = This paper is concerned with avoid ability \/unavoidability of singular configurations in the redundant manipulator's kinematics with an arbitrary degree of redundancy. The dynamical system approach has been adapted as a guiding line. A self\-motion distribution has been defined, spanned by the so\-called Hamiltonian vector fields associated with the given kinematics. The Hamiltonian vector fields are established to be divergence\-free.]

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