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Pré-Publication, Document De Travail Année : 2016

Cuspidal Robots

Résumé

This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the non-singular change of posture, uniqueness domains, regions of feasible paths, identification and classification of cuspidal robots. The chapter focuses on 3-R orthogonal serial robots. The case of 6-dof robots and parallel robots is discussed in the end of this chapter.
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Dates et versions

hal-01377763 , version 1 (07-10-2016)
hal-01377763 , version 2 (13-10-2016)
hal-01377763 , version 3 (06-12-2016)

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Philippe Wenger. Cuspidal Robots. 2016. ⟨hal-01377763v3⟩
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