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A Computational Approach for Constructing the Reachable Workspaces for Redundant Manipulators

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dc.contributor.author Badler, Norman en_US
dc.contributor.author Mihali, Raul en_US
dc.contributor.author Sobh, Tarek M. en_US
dc.contributor.author Alameldin, Tarek K. en_US
dc.date.accessioned 2014-07-16T16:32:54Z
dc.date.available 2014-07-16T16:32:54Z
dc.date.issued 2003-10 en_US
dc.identifier.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. en_US
dc.identifier.uri https://scholarworks.bridgeport.edu/xmlui/handle/123456789/448
dc.description.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. en_US
dc.language.iso en_US en_US
dc.publisher Research Institute of Intelligent Computer Systems en_US
dc.subject Engineering en_US
dc.subject Robotics en_US
dc.subject Redundant manipulators en_US
dc.subject Robot workspace en_US
dc.subject Inverse kinematics en_US
dc.subject Direct kinematics en_US
dc.subject Automation en_US
dc.title A Computational Approach for Constructing the Reachable Workspaces for Redundant Manipulators en_US
dc.type Article en_US
dc.publication.issue 1 en_US
dc.publication.name International Scientific Journal of Computing en_US
dc.publication.volume 2 en_US


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