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Article | REF: S7857 V1

Cuspidal robots: theory and applications

Authors: Philippe WENGER, Damien CHABLAT

Publication date: July 10, 2021 | Lire en français

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    2. Cuspidal robot: definition, identification and properties

    2.1 Definition and example

    Cuspidal robot: a robot is said to be cuspidal if it can change its posture without passing through a singularity. In other words, there are several solutions in a single aspect. In other words, this aspect is no longer a domain of uniqueness for the geometric operator f.

    The name "cuspidal robot" was introduced in connection with the condition of existence of a particular singular point of the workspace called a "cusp point". It is shown that if a cusp point exists, then the robot is cuspidal

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