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2019 | OriginalPaper | Chapter

Cuspidal Robots

Author : Philippe Wenger

Published in: Singular Configurations of Mechanisms and Manipulators

Publisher: Springer International Publishing

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Abstract

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 configuration. 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.

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Title: Cuspidal Robots
Author: Philippe Wenger
Publisher: Springer International Publishing
Book: Singular Configurations of Mechanisms and Manipulators
Print ISBN: 978-3-030-05218-8

Electronic ISBN: 978-3-030-05219-5

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-030-05219-5_3

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