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High-order joint-smooth trajectory planning method considering tool-orientation constraints and singularity avoidance for robot surface machining

Geometric ModelingRobot KinematicsTrajectory PlanningRoboticsEngineeringNatural SciencesMaterial MachiningField RoboticsSingularity AvoidanceRobot Surface MachiningMachine ToolSystems EngineeringComputer-aided DesignTool-orientation ConstraintsComputational Geometry