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Recognizing limitations in traditional singularity avoidance methods, the research proposes a comprehensive strategy: reconstructing motion patterns in singular regions through singularity-consistent representations, applying arc-length reparameterization to Cartesian geometric paths, and incorporating path curvature as a dynamic weighting factor for sampling interval adjustment. This method achieves a balance between joint velocity smoothness and geometric tracking accuracy in Cartesian space, significantly enhancing the robot\u2019s ability to adhere to prescribed geometric paths, particularly near singularities. Experimental results demonstrate the efficacy of the proposed approach in facilitating smooth singularity transitions, improving joint velocity continuity, and enhancing geometric path adherence. The study contributes to robotic arm path planning by offering a practical solution for applications requiring precise trajectory following and effective singularity handling.<\/jats:p>","DOI":"10.1017\/s0263574725102890","type":"journal-article","created":{"date-parts":[[2025,12,3]],"date-time":"2025-12-03T09:42:47Z","timestamp":1764754967000},"page":"4384-4401","source":"Crossref","is-referenced-by-count":0,"title":["An adaptive path planning algorithm with singularity consistency for robotic arms"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-6456-0301","authenticated-orcid":false,"given":"Xianyou","family":"Zhong","sequence":"first","affiliation":[{"name":"Tongji University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mengjiao","family":"Shen","sequence":"additional","affiliation":[{"name":"Tongji University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiao","family":"Lin","sequence":"additional","affiliation":[{"name":"Tongji University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chengju","family":"Liu","sequence":"additional","affiliation":[{"name":"Tongji University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qijun","family":"Chen","sequence":"additional","affiliation":[{"name":"Tongji University"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,12,3]]},"reference":[{"key":"S0263574725102890_ref4","doi-asserted-by":"crossref","first-page":"1109","DOI":"10.1017\/S0263574711001330","article-title":"Singularity analysis of the H4 robot using Grassmann\u2013Cayley algebra","volume":"30","author":"Caro","year":"2012","journal-title":"Robotica"},{"key":"S0263574725102890_ref18","doi-asserted-by":"publisher","DOI":"10.1049\/cp:19940297"},{"key":"S0263574725102890_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.2979431"},{"key":"S0263574725102890_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000345"},{"key":"S0263574725102890_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2017.11.007"},{"key":"S0263574725102890_ref17","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574715000466"},{"key":"S0263574725102890_ref29","doi-asserted-by":"publisher","DOI":"10.4236\/ica.2011.24041"},{"key":"S0263574725102890_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714002823"},{"key":"S0263574725102890_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2409479"},{"key":"S0263574725102890_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1986.289285"},{"key":"S0263574725102890_ref11","doi-asserted-by":"publisher","DOI":"10.1080\/2151237X.2005.10129202"},{"key":"S0263574725102890_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/87.799665"},{"key":"S0263574725102890_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022066806"},{"key":"S0263574725102890_ref14","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400406"},{"key":"S0263574725102890_ref20","doi-asserted-by":"crossref","unstructured":"[20] Wojtyra, M. and Wolihski, L. , \u201cOn-Line Velocity Scaling Algorithm for Task Space Trajectories,\u201d In: Symposium on Robot Design, Dynamics and Control (2022) pp. 171\u2013181.","DOI":"10.1007\/978-3-031-06409-8_18"},{"key":"S0263574725102890_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.105224"},{"key":"S0263574725102890_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2015.06.057"},{"key":"S0263574725102890_ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.2801224"},{"key":"S0263574725102890_ref36","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001042"},{"key":"S0263574725102890_ref15","doi-asserted-by":"crossref","unstructured":"[15] Choi, C. 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