DocumentCode
3416852
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
fYear
1991
fDate
9-10 May 1991
Firstpage
158
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Communications, Computers and Signal Processing, 1991., IEEE Pacific Rim Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-87942-638-1
Type
conf
DOI
10.1109/PACRIM.1991.160705
Filename
160705
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