This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators.
Given two non-singular configurations of the manipulator, the method attempts to connect them through a configuration space path that maintains a minimum clearance with respect
to the singularity locus at all points. The method is resolutioncomplete, in the sense that it always returns a path if one exists
at a given resolution, or returns “failure” otherwise. The path is computed by defining a new manifold that maintains a oneto-
one correspondence with the singularity-free configuration space of the manipulator, and then using a higher-dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found.
Examples are included that demonstrate the performance of the method on illustrative situations.
CitacióBohigas, O. [et al.]. A singularity-free path planner for closed-chain manipulators. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 2128-2134.