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.
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;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507468
