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A Computational Approach for Constructing the Reachable Workspaces for Redundant Manipulators
Badler, Norman; Mihali, Raul; Sobh, Tarek M.; Alameldin, Tarek K.
Publication:International Scientific Journal of Computing
Date:2003-10
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.
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.