Singularity-Free Path Planning and Safe Working Zone Computation for Parallel Manipulators

Developed computational algorithms for path planning and optimal trajectory generation in parallel manipulators by explicitly identifying singularity-free regions of operation. A Safe Working Zone (SWZ) framework is formulated to ensure trajectories remain away from kinematic singularities and self-collision configurations. The resulting approach enables reliable, safety-aware motion planning for parallel manipulators in practical applications.