Title :
An algorithm to compute the reachable workspace for 2R and 3R planar pair mechanical arms
Author :
Sciavicco, Lorenzo ; Siciliano, Bruno
Author_Institution :
Dept. of Inf. & Syst., Naples Univ., Italy
Abstract :
A novel algorithmic approach to the reachable workspace determination is presented. The reachable workspace is that volume of space which the end effector can reach. The present work is restricted to special geometries which have a 2R or a 3R planar pair, but the resulting algorithm appears to be applicable to any manipulator geometry. Computation results are presented for a 2R and a 3R redundant planar pair
Keywords :
computational geometry; robots; computational geometry; manipulator; planar pair mechanical arms; reachable workspace; robots; Arm; End effectors; Geometry; Jacobian matrices; Kinematics; Manipulators; Nonlinear equations; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12123
