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  • A singularity-free path planner for closed-chain manipulators 

    Bohigas Nadal, Oriol; Henderson, Michael E; Ros Giralt, Lluís; Porta Pleite, Josep Maria (IEEE, 2012)
    Conference report
    Open Access
    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 ...