We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the solutions analytically and present a simple numerical solver for the general case. Moreover, an analytical estimate of the Jacobian determinant on a path between two solutions proves cuspidality for a class of robots similar to the transpressor.
@article{arxiv.2602.14794,
title = {Analysis of a Cuspidal 6R Robot},
author = {Alexander Feeß and Martin Weiß},
journal= {arXiv preprint arXiv:2602.14794},
year = {2026}
}