The ABB GoFa and certain three-parallel-axis 6R robots are shown to be cuspidal, and a graph-search planner plus toolpath-offset optimizer is proposed for cuspidal manipulators.
A Study of Multiple Manipulator Inverse Kinematic Solutions with Applications to Trajectory Planning and Workspace Determination,
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Path Planning and Optimization for Cuspidal 6R Manipulators
The ABB GoFa and certain three-parallel-axis 6R robots are shown to be cuspidal, and a graph-search planner plus toolpath-offset optimizer is proposed for cuspidal manipulators.