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On the Evaluation of Reachable Workspace for Redundant Manipulators

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dc.contributor.author Sobh, Tarek M. en_US
dc.contributor.author Alameldin, Tarek K. en_US
dc.date.accessioned 2014-07-16T16:55:57Z
dc.date.available 2014-07-16T16:55:57Z
dc.date.issued 1990 en_US
dc.identifier.uri https://scholarworks.bridgeport.edu/xmlui/handle/123456789/753
dc.description We do not had a pre-print version to post. Please use inter-library loan or obtain this article from ACM directly using the link below. en_US
dc.description.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. en_US
dc.description.uri http://dl.acm.org/citation.cfm?doid=98894.99128
dc.language.iso en_US en_US
dc.publisher ACM Publishing en_US
dc.subject Engineering en_US
dc.subject Redundant manipulators en_US
dc.subject Robot workspace en_US
dc.subject Robotics en_US
dc.subject Inverse kinematics en_US
dc.subject Algorithm en_US
dc.title On the Evaluation of Reachable Workspace for Redundant Manipulators en_US
dc.type Article en_US
dc.event.name ACM 3rd International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems en_US


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