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arXiv · 2602.14794

Analysis of a Cuspidal 6R Robot

Alexander Feeß·Martin Weiß
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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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Alexander Feeß, Martin Weiß. 2026-02-16. Analysis of a Cuspidal 6R Robot. https://arxiv.org/abs/2602.14794

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