Title :
Survey of robotic manipulatorworkspace
Author :
Xiansheng Yang ; Yunjiang Lou ; Zexiang Li ; Haoyao Chen
Author_Institution :
Shenzhen Grad. Sch., Sch. of Mechatron. Eng. & Autom., Harbin Inst. of Technol., Shenzhen, China
Abstract :
Workspace is an important performance index for robotic manipulators. There have been numerous literatures on all aspects of it. This work aims to provide a full picture of workspace. An extensive review of manipulator workspace is presented in this paper, including classification, determination and analysis of workspace. Along with rapid progress of computer´s computation performance, the manipulator workspace can be determined efficiently by a simple numerical discretization method, which contributes greatly to fast workspace analysis and design.
Keywords :
manipulators; numerical analysis; pattern classification; robots; computer computation performance; numerical discretization method; robotic manipulator workspace; workspace analysis; workspace classification; workspace design; workspace determination; Accuracy; Joints; Kinematics; Manipulators; Optimization; Vectors; Manipulator Workspace; Numerical Discretization Method; Review;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896432
