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It is opted for a multiple-heuristics approach, where different influences are integrated in a multiplicative way within the heuristic cost function. Since the issue of singularities is a fundamental one for parallel robots, it is emphasized on the avoidance of such configurations. To include singularity-free planning within the heuristic approach, two heuristic functions are proposed, the inverse local dexterity as well as a novel defined \u201cnext-singularity\u201d function, in such a way, well conditioned motions can be provided by a single planning procedure. The success of the method is illustrated by some examples.<\/jats:p>","DOI":"10.1017\/s0263574708004311","type":"journal-article","created":{"date-parts":[[2008,3,27]],"date-time":"2008-03-27T14:19:47Z","timestamp":1206627587000},"page":"679-689","source":"Crossref","is-referenced-by-count":5,"title":["A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators"],"prefix":"10.1017","volume":"26","author":[{"given":"Houssem","family":"Abdellatif","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bodo","family":"Heimann","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2008,9,1]]},"reference":[{"key":"S0263574708004311_ref21","unstructured":"21. 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