Title :
Characterization of the workspace for planar robot manipulators
Author :
Zhang, Hong ; Sikka, Pavan
Author_Institution :
Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
Abstract :
The complete description of the workspace of a two-degree-of-freedom planar robot manipulator is derived. The derivation takes into account the effects of kinematic parameters on the workspace. The derivation is based on a method using polynomial discriminants of the kinematic equations and expresses the workspace as a set of boundary curves that are convenient to use in a number of applications
Keywords :
industrial robots; boundary curves; kinematic equations; kinematic parameters; planar robot manipulators; polynomial discriminants; two-degree-of-freedom; workspace; Collision avoidance; Control systems; Equations; Kinematics; Manipulator dynamics; Motion control; Orbital robotics; Polynomials; Robot control; System performance;
Conference_Titel :
Communications, Computers and Signal Processing, 1991., IEEE Pacific Rim Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-87942-638-1
DOI :
10.1109/PACRIM.1991.160705
