Changing posture for cuspidal robot manipulators

The primary goal of this paper is a descriptive explanation, based on typical illustrative examples, of what happens precisely when a serial non-redundant manipulator is changing its posture. This work focuses on the cuspidal robot manipulators, i.e. those robot manipulators which can change posture without meeting a singularity. The analysis is done for 3-DOF positioning manipulators. It applies to 6-DOF manipulators with wrists as well. Main applications of this study are robot design and trajectory planning