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Using computer algebra tools to classify serial cuspidal manipulators

Solen Corvez Fabrice Rouillier 1
1 SPACES - Solving problems through algebraic computation and efficient software
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : In this paper we present a classification of 3-revolute-jointed manipulators based on the cuspidal behaviour. It was shown in a previous work that this ability to change posture without meeting a singularity is equivalent to the existence of a point in the workspace, such that a polynomial of degree four depending on the parameters of the manipulator and on the cartesian coordinates of the effector has a triple root. More precisely, from a partition of the parameters' space, such that in any connected component of this partition the number of triple roots is constant, we need to compute one sample point by cell, in order to have a full description, in terms of cuspidality, of the different possible configurations.
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Contributor : Rapport de Recherche Inria <>
Submitted on : Tuesday, May 23, 2006 - 7:17:53 PM
Last modification on : Friday, February 26, 2021 - 3:28:07 PM
Long-term archiving on: : Sunday, April 4, 2010 - 8:51:30 PM


  • HAL Id : inria-00071932, version 1



Solen Corvez, Fabrice Rouillier. Using computer algebra tools to classify serial cuspidal manipulators. [Research Report] RR-4653, INRIA. 2002. ⟨inria-00071932⟩



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