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Cuspidal and noncuspidal robot manipulators

Published online by Cambridge University Press:  01 November 2007

Philippe Wenger
Philippe Wenger*
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes 1, rue de la Noë, 44321 Nantes, France
*
E-mail: philippe.wenger@irccyn.ec-nantes.fr
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Summary

This article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the regions of feasible paths in the workspace are defined. Then, several sufficient geometric conditions for a manipulator to be noncuspidal are enumerated and a general necessary and sufficient condition for a manipulator to be cuspidal is provided. An explicit DH-parameter-based condition for an orthogonal manipulator to be cuspidal is derived. The full classification of 3R orthogonal manipulators is provided and all types of cuspidal and noncuspidal orthogonal manipulators are enumerated. Finally, some facts about cuspidal and noncuspidal 6R manipulators are reported.

Keywords

Cuspidal manipulatorSingularityPostureWorkspaceCusp pointClassification
Type
Article
Information
Robotica , Volume 25 , Issue 6 , November 2007 , pp. 677 - 689
Copyright
Copyright © Cambridge University Press 2007

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