The paper proposes a new approach for path planning based upon the finite twist mapping spaces and discusses the selective and desirable orientation in the planning. In the FT mapping space, positions and orientations are presented in conjunction with configuration space with the dexterous and partial dexterous workspaces. The path planning can hence be made with a range of dexterity of a manipulator to meet a desirable orientation. The work also extends to redundant manipulators.

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