On the Evaluation of Reachable Workspace for Redundant Manipulators
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Authors
Sobh, Tarek M.
Alameldin, Tarek K.
Issue Date
1990
Type
Article
Language
en_US
Keywords
Engineering , Redundant manipulators , Robot workspace , Robotics , Inverse kinematics , Algorithm
Alternative Title
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.
Description
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Citation
Publisher
ACM Publishing