In manipulator path planning, degeneracies from inverse kinematics solutions has been observed to exist for certain arm configurations, although the manipulator can physically attain such configurations. In addition, closed-form inverse kinematics offers multiple sets of solutions from which one set must be selected. In this paper, using an increasingly popular manipulator, we discuss the implementation issues of the closed-form inverse kinematics solution in planning trajectory to ensure that joint solutions exist for all possible manipulator configurations. We use an approach based on known facts about the manipulator geometry and physical constraints coupled with heuristics to generate physically attainable joint solutions from the inverse kinematics. The conditions that cause solution degeneracy will be demonstrated to be related to singularity conditions, and allowable solutions will be selected based on physical constraints of the joints.

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