Analysis of a Cuspidal 6R Robot
Alexander Fee{\ss}, Martin Wei{\ss}
TL;DR
This paper provides a comprehensive theoretical and numerical analysis of the kinematics of the cuspidal 6R robot 'Transpressor', revealing multiple inverse solutions and conditions for cuspidality.
Contribution
It introduces analytical and numerical methods for solving the inverse kinematics of the Transpressor and estimates Jacobian determinants to identify cuspidality.
Findings
Up to 16 inverse kinematics solutions identified.
Analytical solutions provided for special poses.
Numerical solver developed for general cases.
Abstract
We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the solutions analytically and present a simple numerical solver for the general case. Moreover, an analytical estimate of the Jacobian determinant on a path between two solutions proves cuspidality for a class of robots similar to the transpressor.
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Taxonomy
TopicsRobotic Mechanisms and Dynamics · Control and Dynamics of Mobile Robots · Soft Robotics and Applications