305 citations · 993 across the 84 of their papers we have counts for
94 papers
A review of cuspidal serial and parallel manipulators
Philippe Wenger, Damien Chablat
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all…
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…
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…
Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms
Philippe Wenger, D. Chablat
Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They are interesting alternative designs for some applications, such as modelling musculo-ske…
Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism
P Wenger, Damien Chablat
Tensegrity mechanisms have several interesting properties that make them suitable for a number of applications. Their analysis is generally challenging because the static equilibri…
Cuspidal Robots
Philippe Wenger
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration.…