LAUSR

This letter provides a comparative analysis of common strategies for sampling-based motion planning of fully actuated closed kinematic chains with revolute joints. Three strategies are reviewed: singularity sampling, swapping between the possible passive chains while using the active–passive chains kinematic approach, and using Newton–Raphson projections. The strategies are compared using analytical and empirical results. Various measures, such as sampling time and visibility, are used to analyze the strategies in several dual-arm planning problems using the three different planning algorithms. This comparative analysis provides insight into the strengths and weaknesses of each sampling strategy. Results indicate that the kinematic-based passive chains swapping strategy is more preferable in environments with obstacles but harder to implement for various robotic arms.