Analysis of a Cuspidal 6R Robot

We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the solutions analytically and present a simple numerical solver for the general case. Moreover, an analytical estimate of the Jacobian determinant on a path between two solutions proves cuspidality for a class of robots similar to the transpressor.

Source: arXiv:2602.14794v1 - http://arxiv.org/abs/2602.14794v1 PDF: https://arxiv.org/pdf/2602.14794v1 Original Link: http://arxiv.org/abs/2602.14794v1