output
20202022
most citedNecessary and sufficient condition for a generic 3R serial manipulator to be cuspidal

13 citations

researchers with a paper here

Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.

collaborating institutions
Showing 2022Show all

2 papers · 1 filter

cs.SC2022★ 6 cited

Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry

Damien Chablat, Rémi Prébet, Mohab Safey El Din +2

Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been st…

cs.RO2022★ 13 cited

Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal

Durgesh Haribhau Salunkhe, Christoforos Spartalis, Jose Capco +2

Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the…