2023
Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots
Tobias Marauli, Durgesh Haribhau Salunkhe, Hubert Gattringer, Andreas Müller, Damien Chablat, Philippe Wenger
IROS 2023poster
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…