The paper is devoted to the elastostatic calibration of industrial robots, which are used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic ...

We present fast and robust algorithms for the inverse kinematics of serial manipulators consisting of six or fewer joints. When stated mathematically, the problem of inverse kinematics reduces to simultaneously solving a system of algebraic equations. In this paper, we use a series of algebraic and numeric transformations to reduce the problem to computing the eigenstructure of a matrix pencil....

Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of cusp point in workspace 3R serial robots. proved be necessary and sufficient condition for orthogonal cuspidal, but it not possible extend this non-orthogonal goal paper is prove that stands any generic robot. This result would give desi...