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A complete method for workspace boundary determination on general structure manipulators

Autor
Bohigas, O.; Manubens, M.; Ros, L.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2012-10
Volum
28
Número
5
Pàgina inicial
993
Pàgina final
1006
DOI
https://doi.org/10.1109/TRO.2012.2196311 Obrir en finestra nova
Resum
This paper introduces a new method for workspace boundary determination on general structure manipulators. The method uses a branch-and-prune technique to isolate a set of output singularities and then classifies the points on such a set according to whether they correspond to motion impediments in the workspace. A detailed map of the workspace is obtained as a result, where all interior and exterior regions, together with the singularity and barrier sets that separate them, get clearly identifi...
Paraules clau
Branch-and-prune method, closed-chain, kinematics, linear relaxation, mechanism design, multibody system, parallel robot, workspace determination
Grup de recerca
DCG - Discrete and Combinatorial Geometry
KRD - Cinemàtica i Disseny de Robots

Participants

  • Bohigas Nadal, Oriol  (autor)
  • Manubens Ferriol, Montserrat  (autor)
  • Ros Giralt, Lluis  (autor)