Title :
On the optimal placement and task compatibility of manipulators
Author :
Pamanes, J. A G ; Zeghloul, S. ; Lallemand, J.P.
Author_Institution :
Lab. de Mecanique des Solides, Poitiers Univ., France
Abstract :
A criterion proposed in an earlier paper (Pamanes, 1989), to find the optimal placement of manipulators, is applied to the evaluation of the geometric compatibility of a manipulator with its task. Such criterion is extended in order to take into account obstacle avoidance. The authors introduce a general method for evaluation of the compatibility of manipulator/task, which considers the optimal placement with obstacle avoidance, and the possibility of execution of the task with different configurations of the manipulator. The evaluation of a six-degree-of-freedom manipulator with a task in a cluttered workstation is carried out by using the proposed method. The results show the effectiveness of this method.<>
Keywords :
manipulators; path planning; cluttered workstation; obstacle avoidance; optimal placement; path planning; six-degree-of-freedom manipulator; task compatibility; End effectors; Kinematics; Manipulators; Robots; Workstations;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240363
