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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 |
