Trajectory control without singularity points. TT7 trajectory

This video shows the execution of a trajectory (TT7) by the 4dof reconfigurable robot. The TT7 trajectory has a elliptical motion on the Z_F axis as a function of 0.1m displacement on the X_F axis.

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 reference of motion.