Analysis of a Cuspidal 6R Robot

arXiv (Cornell University) 2026 Preprint Open access

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Authors: Alexander Feeß, Martin Weiß
DOI: 10.48550/arxiv.2602.14794
Cited by: 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.

Fields of Study & Subjects

Robotic Mechanisms and Dynamics Soft Robotics and Applications Dynamics and Control of Mechanical Systems

Publication details

Journal / source
arXiv (Cornell University)
Publication date
16 February 2026
Language
EN
Document type
Preprint