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Singularity analysis and path planning for a MDOF manipulator

Abstract This paper presents singularity characterization and path planning design for a newly developed 3 leg 6 degree‐of‐freedom (DOFs) parallel manipulator. Special emphasis is placed on characterizing the platform singularity and singularity avoidance of path planning based on genetic algorithms. The path planning scheme proposed uses a real‐coded genetic algorithm including a modified crossover and a swap mutation for searching out the shortest moving path in the available workspace.