Trajectory planning issues in cuspidal commercial robots
Durgesh Haribhau Salunkhe,Damien Chablat,Philippe Wenger,Durgesh Haribhau Salunkhe,Damien Chablat,Philippe Wenger
A cuspidal serial robot can travel from one inverse kinematic solution to another without crossing a singularity. Cuspidal robots ask for extra care and caution in trajectory planning, as identifying an aspect related to one unique inverse kinematic solution is not possible. The issues related to motion planning with cuspidal robots are related to the inherent property arising from the geometric d...
