Title :
Modeling kinematic properties of type-2 regional manipulators using octrees
Author :
Wenger, Philippe ; El Omri, Jaouad
Author_Institution :
Lab. d´´Autom., Ecole Centrale de Nantes, France
Abstract :
This paper presents a method for building and modeling jointspace and workspace subsets of type-2 manipulators using octrees. Main applications are kinematic analysis, robot design and off-line task programming. A comparative study is done between a well-known type-1 manipulator and an inedit type-2 robot
Keywords :
computational geometry; manipulator dynamics; manipulator kinematics; octrees; robot programming; inedit type-2 robot; jointspace; kinematic analysis; kinematic property modeling; octrees; offline task programming; robot design; type-1 manipulator; type-2 regional manipulators; workspace; Anthropomorphism; Buildings; Computational geometry; Kinematics; Manipulators; Network-on-a-chip; Orbital robotics; Robot programming; Trajectory; Welding;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390846
