2 papers
cs.RO2025
Redundancy Parameterization of the ABB YuMi Robot Arm
Alexander J. Elias, John T. Wen
The ABB YuMi is a 7-DOF collaborative robot arm with a complex, redundant kinematic structure. Path planning for the YuMi is challenging, especially with joint limits considered. T…
cs.RO2025
Path Planning and Optimization for Cuspidal 6R Manipulators
Alexander J. Elias, John T. Wen
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautifu…