Feasibility of trajectories
Cuspidal robots: theory and applications
Article REF: S7857 V1
Feasibility of trajectories
Cuspidal robots: theory and applications

Authors : Philippe WENGER, Damien CHABLAT

Publication date: July 10, 2021 | Lire en français

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3. Feasibility of trajectories

3.1 t-parcourable regions for a non-cuspidal robot

t-crossable region: a region of the workspace is said to be "t-crossable" if any continuous trajectory in this region can be traversed by the end device without ever leaving the trajectory in progress. For a non-cuspidal robot, t-crossable regions are those accessible in the same aspect ...

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