简介:Singularityanalysisinanimportantsubjectofthegeometricconstraintsatisfactionproblem.Inthispaper,threekindsofsingularitiesaredescribedandcorrespondingidentifcationmethodsarepresentedforbothunder0constrainedsystemsandover-constrainedsystems,Anotherspecialbutcommonsingularityforunder-constrainedgeometricsystems,pseudo-singularity,isanalyzed.Pseudo-singularityiscausedbyavarietyofconstraintmathchingofunder-constrainedsystemsandcanberemovedbyimprovingconstraintdistribution.Toavoidpseudo-singularityanddecideredundantconstraintsadaptively,adifferentiaitonalgorithmisproposedinthepaper.Itscorrctnessandeffciencyhavebeenvalidatedthroughitspracticalapplicationsina2D/3DgeometricconstraintsolverCBA.