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On the evaluation of reachable workspace for redundant manipulators

Authors:

Tarek Alameldin,

Tarek SobhAuthors Info & Claims

IEA/AIE '90: Proceedings of the 3rd international conference on Industrial and engineering applications of artificial intelligence and expert systems - Volume 2

Pages 1079 - 1085

https://doi.org/10.1145/98894.99128

Published: 01 June 1990 Publication History

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.

References

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D. Goldfarb. A Family of Variable Metric Methods Derived by Variational Means. Math. Computation, 24:23-26, 1970.

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D. Goldfarb. Eztension of Davidon's Variable Metric Method to Maximization under Linear Inequality and Equality Constraints. SIAM Journal of Applied Mathematics, 17:739-764, 1969.

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A. Kumar. Characterization of Manipulator Geometry. PhD thesis, University of Houston, 1980.

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A. Kumar and K. Waldron. The Workspace of a Mechanical Manipulator. ASME Journal of Mechanical Design, 103:665-672, july 1981.

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T. Lee and D. Yang. On the of Manipulator Workspace. Journal of Mechanisms, Transmissions, and Automation in Design, 105'70-77, March 1983.

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R. Paul. Robot Manipulators' Mathematics~ Programming~ and Control. MIT Press, Cambridge, Mass., 1981.

Digital Library

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K. Ritter. A Variable Metric Moethod for Linearly Constrained Minimization Problems, in Nonlinear Programming 3. Academic Press, 1978.

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B. Roth. Performance Evaluation of manipulators from a Kinematics Viewpoint. NBS Special Publication, 39-61, 1975.

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D. Shanno. Conditioning of Quasi- Newton Methods for Fur, ction Minimization. Math. Computation, 24:647-664, 1970.

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M. Tsai. Workspace Geometric Characterization and Manipulability of Industrial Robots. PhD thesis, Ohio State University, 1986.

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R. Vijaykumar, K. Waldron, and M. Tsai. Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity. International Journal of Robotics Research, 5:91-104, 1986.

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Cited By

Shaik HSatish Babu G(2021)Kinematic Performance Analysis of 3-DOF 3RRR Planar Parallel ManipulatorProceedings of International Conference on Intelligent Computing, Information and Control Systems10.1007/978-981-15-8443-5_75(879-894)Online publication date: 25-Jan-2021
https://doi.org/10.1007/978-981-15-8443-5_75

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On the evaluation of reachable workspace for redundant manipulators

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cover image ACM Conferences

IEA/AIE '90: Proceedings of the 3rd international conference on Industrial and engineering applications of artificial intelligence and expert systems - Volume 2

June 1990

591 pages

ISBN:0897913728

DOI:10.1145/98894

Chairman:
Manton M. Matthews

Copyright © 1990 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

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Published: 01 June 1990

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IEA/AEI-90: 3rd International Conference on Industrial & Engineering Applications of Artificial Intelligence & Expert Systems

South Carolina, Charleston, USA

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Cited By

Shaik HSatish Babu G(2021)Kinematic Performance Analysis of 3-DOF 3RRR Planar Parallel ManipulatorProceedings of International Conference on Intelligent Computing, Information and Control Systems10.1007/978-981-15-8443-5_75(879-894)Online publication date: 25-Jan-2021
https://doi.org/10.1007/978-981-15-8443-5_75

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