TL;DR
This paper explores cuspidal robots, which can transition between different inverse solutions without encountering singularities, highlighting their features, classification, and implications for robotic motion planning.
Contribution
It provides a comprehensive overview of cuspidal robots, including their main features, classification, and analysis specifically for 3-R orthogonal serial robots, with discussions on 6-DOF and parallel robots.
Findings
Identification of non-singular posture changes
Classification of cuspidal robots based on features
Analysis of 3-R orthogonal serial robots
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 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.
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsModular Robots and Swarm Intelligence · Robotic Mechanisms and Dynamics · Robotic Path Planning Algorithms