Trajectory control with assembly change point. Trajectory ACT2

This video shows the execution of a trajectory (ACT2) by 4dof reconfigurable robot structed in optimal configuration 1. The ACT2 develop independent linear motions to reach X_F=-0.1m, Z_F=0.75m, roll angle: -15º and pitch angle: 0º.

In this trajectory although the final point is a non-singular configuration, the motion control is lost and the mobile platform can perform a singular assembly mode change by applying an external force.