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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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