Trajectory control with assembly change point. Trajectory ACT3

This video shows the execution of a trajectory (ACT3) by 4dof reconfigurable robot structed in optimal configuration 1. The ACT3 perform independent linear motions to reach XF=-0.144m, ZF=0.705m, roll angle: 7.78º and pitch angle: 16.8º.

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