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Cuspidal Robots

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Book cover Singular Configurations of Mechanisms and Manipulators

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 589))

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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Author information

Authors and Affiliations

  1. IRCCyN, CNRS, Nantes, France

    Philippe Wenger

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  1. Philippe Wenger
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Correspondence to Philippe Wenger .

Editor information

Editors and Affiliations

  1. Institute of Robotics, Johannes Kepler University Linz (JKU), Linz, Austria

    Andreas Müller

  2. Department of Mechanical Engineering, University of Genoa, Genoa, Italy

    Dimiter Zlatanov

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Wenger, P. (2019). Cuspidal Robots. In: Müller, A., Zlatanov, D. (eds) Singular Configurations of Mechanisms and Manipulators. CISM International Centre for Mechanical Sciences, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-030-05219-5_3

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  • DOI: https://doi.org/10.1007/978-3-030-05219-5_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-05218-8

  • Online ISBN: 978-3-030-05219-5

  • eBook Packages: EngineeringEngineering (R0)

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