Hybrid motion planning of a planar robot for a tracking problem with singularity

A motion planning problem for a planar robot on a path with singularity is studied in this paper. The motion planning problem is solved by a proposed hybrid motion planning method to guarantee the robustness of singularity and to reduce the computing load of the optimal-perturbation problem. To verify the proposed method, a tracking path with singularity is studied to compare the proposed method from the inverse Jacobin method. Moreover, a planar robot is designed and controlled via the PC-base architecture to implement the proposed method.