DocumentCode
1984142
Title
Positioning the base of spatial 2-dof regional manipulators in order to reach as many arbitrarily-chosen points in space as possible
Author
Innocenti, Carlo
Author_Institution
Dept. of Mech. & Civil Eng., Modena & Reggio Emilia Univ.
fYear
2005
fDate
18-20 July 2005
Firstpage
587
Lastpage
594
Abstract
Whenever a manipulator is assigned the repetitive task of moving a point of its end-effector through a limited number of prescribed positions in space, it might be possible to endow it with two degrees of freedom only - instead of the canonical minimum of three - on the condition that the base of the manipulator is suitably placed in space. This paper shows a procedure to determine the correct rigid-body position of the base of two-degree-of-freedom (2-dof) manipulators - either serial or fully-parallel - in order to enable them to accomplish the above-mentioned task. Numerical examples are reported
Keywords
end effectors; industrial manipulators; path planning; position control; manipulator motion-planning; rigid-body position determination; spatial 2-dof regional manipulator base positioning; Civil engineering; Geometry; Manipulators; Manufacturing automation; Manufacturing industries; Motion-planning; Robot kinematics; Robotics and automation; Trajectory; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location
Seattle, WA
Print_ISBN
0-7803-9178-0
Type
conf
DOI
10.1109/ICAR.2005.1507468
Filename
1507468
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