Titlebook: Team Cooperation in a Network of Multi-Vehicle Unmanned Systems; Synthesis of Consens Elham Semsar-Kazerooni,Khashayar Khorasani Book 2013

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Singularity Robust Inverse Kinematics of Serial Manipulators by Means of a Joint Arc Length Parameterity consistent sampling scheme can easily be devised. A sampling of the arc length gives direct control over the joint motion for prescribed EE motion. The arc length parameterization can be used for solving the (time) optimal path following problem, avoiding the ill-conditioning upfront.

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