On the evaluation of reachable workspace for redundant manipulators

Authors:
Tarek Alameldin;Tarek Sobh
Affiliations:
Department of Computer and Information Science, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, PA;Department of Computer and Information Science, School of Engineering and Applied Science, University of Pennsylvania, Philadelphia, PA
Venue:
IEA/AIE '90 Proceedings of the 3rd international conference on Industrial and engineering applications of artificial intelligence and expert systems - Volume 2
Year:
1990

Citing 2
Cited 1

Geometric optimization of serial chain manipulator structures for working volume

International Journal of Robotics Research
Robot Manipulators: Mathematics, Programming, and Control

Robot Manipulators: Mathematics, Programming, and Control

Inverse kinematics positioning using nonlinear programming for highly articulated figures

ACM Transactions on Graphics (TOG)

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, we discuss the problem of computing the reachable workspace for redundant manipulators. Algorithms that compute workspace boundary points by using screw theory are presented. These algorithms cannot distinguish holes and voids that are buried within the reachable workspace. We present an algorithm that utilizes inverse kinematics in order to detect the unreachable regions (holes and voids) within the reachable workspace.