A Computational Approach for Constructing the Reachable Workspaces for Redundant Manipulators
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Authors
Badler, Norman
Mihali, Raul
Sobh, Tarek M.
Alameldin, Tarek K.
Issue Date
2003-10
Type
Article
Language
en_US
Keywords
Engineering , Robotics , Redundant manipulators , Robot workspace , Inverse kinematics , Direct kinematics , Automation
Alternative Title
Abstract
An efficient computation of 3D workspaces for redundant manipulators is based on a “hybrid” algorithm between direct kinematics and screw theory. Direct kinematics enjoys low computational cost, but needs edge detection algorithms when workspace boundaries are needed. Screw theory has exponential computational cost per workspace point, but does not need edge detection. Screw theory allows computing workspace points in prespecified directions, while direct kinematics does not. Applications of the algorithm are discussed.
Description
Citation
Tarek K. Alameldin, Norman Badler, Tarek Sobh and Raul Mihali. "A Computational Approach for Constructing the Reachable Workspaces for Redundant Manipulators". International Journal of Computing, Volume 2, issue 1, pp. 48-52, October 2003.
Publisher
Research Institute of Intelligent Computer Systems