Trajectory control without singularity points. Trayectory TT6

This video shows the execution of a trajectory (TT6) by the 4dof reconfigurable robot. The TT6 trajectory is a displacement of 0.1m on the X_F axis while  the pitch angle rotates 20º and yaw angle rotates 10º.

In this trajectory the robot does not pass by any singular point, therefore, the control is not lost at any time and the response of the robot follows in a very precise way the motion reference.