Analysis of a Cuspidal 6R Robot

• URL: http://arxiv.org/abs/2602.14794v1
• Date: Mon, 16 Feb 2026 14:41:26 GMT
• Title: Analysis of a Cuspidal 6R Robot
• Abstract summary: We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot.<n>For special target poses, we provide the solutions analytically and present a simple numerical solver for the general case.
• Score: 45.88028371034407
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: 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 geometrically. For special target poses, we provide the solutions analytically and present a simple numerical solver for the general case. Moreover, an analytical estimate of the Jacobian determinant on a path between two solutions proves cuspidality for a class of robots similar to the transpressor.

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