3 accepted papers
Redundant robots, with more degrees of freedom than required for a given task, offer enhanced dexterity but can exhibit complex kinematic behaviour in motion planning. Cuspidal robots, which can change inverse kinematic solutions without crossing singularities, have been reported to pose unique chal…
The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory p…
A cuspidal serial robot can travel from one inverse kinematic solution to another without crossing a singularity. Cuspidal robots ask for extra care and caution in trajectory planning, as identifying an aspect related to one unique inverse kinematic solution is not possible. The issues related to mo…