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  5. Enumeration and classification of cuspidal and non-cuspidal robots

Article | REF: S7857 V1

Cuspidal robots: theory and applications

Authors: Philippe WENGER, Damien CHABLAT

Publication date: July 10, 2021

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4. Enumeration and classification of cuspidal and non-cuspidal robots

4.1 Simple geometrical conditions leading to non-cuspidal robots

Several simple geometric conditions leading to non-cuspidal 3R robots have been established. Some of these conditions correspond to "solvable" robots in the sense of Pieper , , i.e. whose geometric inverse model can be solved using polynomials of degree 2 at most. Such robots...

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Enumeration and classification of cuspidal and non-cuspidal robots
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