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Article | REF: S7857 V1

Cuspidal robots: theory and applications

Authors: Philippe WENGER, Damien CHABLAT

Publication date: July 10, 2021

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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 .

For a non-cuspidal robot, it has been shown that aspects define t-crossable regions

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Feasibility of trajectories
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