Over protests from prosecutors, a Chicago judge has granted R. Kelly permission to leave Illinois for a five-city tour in August.

The R&B singer -- free on bond after being indicted on child pornography charges last June and apparently suffering little if any damage from the accusations -- appeared before Judge Vincent Gaughan on Monday (July 14) to present a proposed itinerary that would take him to the Oakland-Alameda County Arena in Oakland, California, on August 15; the Great Western Forum in Inglewood, California, on August 16; the MCI Center in Washington, D.C., on August 22; Madison Square Garden in New York on August 23; and the Philips Arena in Atlanta on August 28.

Kelly is also on the bill for the Detroit Music Festival at Comerica Park on August 1, along with the Isley Brothers, the Gap Band and Nas. A representative for the state attorney's office in Cook County said Kelly received permission to play the Detroit show during a motions hearing on July 2.

At that time, Kelly also received permission to perform at the Aladdin Resort Casino in Las Vegas on July 19, to attend the BMI Urban Awards in Miami on August 5, and to perform August 9 at Milwaukee's Marcus Amphitheater. A Jive Records spokesperson said the Milwaukee show isn't confirmed and is not likely to happen.

While Kelly gets a slight break from his legal woes while working up crowds, prosecutors continue to review expert witness reports for the final phase of discovery for the impending trial. Kelly is due back in court September 26.

For full coverage of the R. Kelly sex tape scandal, see The R. Kelly Reports.