Cuspidal-manipulator path-planning paper identifies ABB GoFa kinematic behavior
Evidence notes
- The paper studies path planning for cuspidal 6R manipulators, where inverse-kinematics branch choices can make a task-space path infeasible.
- The authors identify ABB GoFa as cuspidal and propose graph-based planning over inverse-kinematics solutions.
- The work adds research context for GoFa motion planning and optimization in industrial toolpath settings.
Company context
ABB's current Robotics division, supplying industrial and collaborative robots, autonomous mobile robots, controllers, software and application solutions. ABB signed a sale to SoftBank, but closing remains pending.