• DocumentCode
    1533596
  • Title

    The dexterous workspace of simple manipulators

  • Author

    Lia, Z.-C. ; Menq, Chia-Hsiang

  • Author_Institution
    GMF Robotics Corp., Troy, MI, USA
  • Volume
    4
  • Issue
    1
  • fYear
    1988
  • fDate
    2/1/1988 12:00:00 AM
  • Firstpage
    99
  • Lastpage
    103
  • Abstract
    A theoretical study on the dexterous workspace of robotic manipulators is presented. For a robot with wrists that can generate a full range of orientations, the boundary of the robot´s dexterous workspace is governed by the boundary of W1(4), where W1(4) is the reachable space of joint 4 when joints 1-3 are free to rotate. A method is developed on this basis. Three examples are given to illustrate this concept and method. They show that for simple robots, analytical expressions for the dexterous workspace can be obtained
  • Keywords
    control system analysis; position control; robots; boundary; dexterous workspace; orientations; position control; robotic manipulators; Closed-form solution; Kinematics; Manipulators; Mechanical engineering; Orbital robotics; Robotics and automation; Robots; Wrist;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/56.778
  • Filename
    778
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1533596