2016/10/07 by Philippe Wenger, Wenger, Philippe
Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1610.04080
openalex publication_date 2016/10/13 · openalex created_date 2023/09/06 · openalex updated_date 2026/07/28
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the non-singular change of posture, uniqueness domains, regions of feasible paths, identification and classification of cuspidal robots. The chapter focuses on 3-R orthogonal serial robots. The case of 6-dof robots and parallel robots is discussed in the end of this chapter.