A Hybrid System For Computing Reachable Workspaces For Redundant Manipulators
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Authors
Alameldin, Tarek K.
Badler, Norman
Sobh, Tarek M.
Mihali, Raul
Issue Date
1991-03-01
Type
Article
Language
Keywords
Algorithms analysis , Computer science , Computer system design , Data algorithms , Engineering , Robotics
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 workspaces points in prespecfic directions, while direct kinematics does not. Applications of the algorithm are discussed.
Description
Copyright 1991 Society of Photo-Optical Instrumentation Engineers. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited.
Citation
Tarek K. Alameldin and Tarek M. Sobh, "Hybrid system for computing reachable workspaces for redundant manipulators", Proc. SPIE 1386, Machine Vision Systems Integration in Industry, 112 (March 1, 1991); doi:10.1117/12.25384; doi:10.1117/12.25384
Publisher
SPIE