Singularity-free path planning for parallel manipulator

Given a start pose and a goal pose, a large number of singularity-free poses are created randomly in the 6 dimensional task space, a short line segment is used to create a feasible path between two singularity-free poses. A well connected roadmap can be obtained and stored in the 6 dimension task space for a specific 6 DOF parallel manipulator in this way and a singularity-free path is queried to connect the start pose and the goal pose. So the singularity-free path planning between any two given poses for this parallel manipulator can be performed very efficiently. This singularity-free path planning method can be used with any type of parallel manipulator only if the matrix used can be given to define singularities.