3 papers
cs.RO2026
Analysis of a Cuspidal 6R Robot
Alexander Feeß, Martin Weiß
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 g…
cs.RO2019
Optimal Object Placement using a Virtual Axis
Martin Weiß
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positi…
cs.RO2018
Optimization of Robot Tasks with Cartesian Degrees of Freedom using Virtual Joints
Martin Weiß
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position…