Christoforos Spartalis- Master of Science
- University of Innsbruck
Christoforos Spartalis
- Master of Science
- University of Innsbruck
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3
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Publications (3)
Given a general 3-RPR planar parallel robot with linear platforms, it is proven that there are no singularity-free paths between non-symmetrical direct kinematics solutions. We provide an alternative proof of this. We also provide a proof that shows that there is a singularity-free path between two symmetrical solutions if an appropriate condition...
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 a cusp point in the workspace of 3R serial robots. The existence of a cusp point was proved to be a necessary and sufficient condition for orthogonal robots to be cuspidal, but it was not po...
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 a cusp point in the workspace of 3R serial robots. The existence of a cusp point was proved to be a necessary and sufficient condition for orthogonal robots to be cuspidal, but it was not po...
