Title :
An Improved Method for Depicting Workspace Boundary of Planar Robot Manipulator
Author :
Cao, Yi ; Li, Huanfeng
Author_Institution :
Adv. Autom. Technol. Inst., Henan Univ. of Technol., Zhengzhou, China
Abstract :
In order to depict a more accurate workspace boundary of planar robot manipulator, an improved numerical method is proposed in the paper. The algorithm searches boundary points of workspace from both axes, and connects these points in turn to form a closed curve. A robot manipulator is taken as an example, and least-square is applied to compare the errors of both workspaces which are generated by the previous and the improved methods. It proves that the present method is a feasible and efficient way to acquire a right and more accurate planar workspace.
Keywords :
least squares approximations; manipulators; boundary points; least-square; numerical method; planar robot manipulator; workspace boundary; Bellows; Error analysis; Laboratories; Manipulators; Monte Carlo methods; Optimization methods; Paper technology; Robot kinematics; Robotics and automation; Technology management; error analysis; improved method; planar robot; workspace boundary;
Conference_Titel :
Computational Science and Optimization (CSO), 2010 Third International Joint Conference on
Conference_Location :
Huangshan, Anhui
Print_ISBN :
978-1-4244-6812-6
Electronic_ISBN :
978-1-4244-6813-3
DOI :
10.1109/CSO.2010.125