Title :
The dexterous workspace of simple manipulators
Author :
Lia, Z.-C. ; Menq, Chia-Hsiang
Author_Institution :
GMF Robotics Corp., Troy, MI, USA
fDate :
2/1/1988 12:00:00 AM
Abstract :
A theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot´s dexterous workspace is governed by the boundary of W1(4), where W1(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis. Three examples are given to illustrate this concept and method. They show that for simple robots, analytical expressions for the dexterous workspace can be obtained
Keywords :
control system analysis; position control; robots; boundary; dexterous workspace; orientations; position control; robotic manipulators; Closed-form solution; Kinematics; Manipulators; Mechanical engineering; Orbital robotics; Robotics and automation; Robots; Wrist;
Journal_Title :
Robotics and Automation, IEEE Journal of
