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This paper aims to study the structure of the singular manifold of a fragment of protein backbone using the method of robot kinematics. By modeling chemical bonds as rigid links, and torsional motion around chemical bonds as revolute joints, a fragment of protein backbone turns into a kinematic linkage. The singular manifold of the forward kinematic map of this linkage contains important information about the structure of its inverse kinematics map, and the results also apply to the study ofdoi:10.1109/access.2020.2978546 fatcat:sh54mcvo6ve77l2456ua2sxvlm