• DocumentCode
    1644642
  • Title

    An algorithm to compute the reachable workspace for 2R and 3R planar pair mechanical arms

  • Author

    Sciavicco, Lorenzo ; Siciliano, Bruno

  • Author_Institution
    Dept. of Inf. & Syst., Naples Univ., Italy
  • fYear
    1988
  • Firstpage
    628
  • Abstract
    A novel algorithmic approach to the reachable workspace determination is presented. The reachable workspace is that volume of space which the end effector can reach. The present work is restricted to special geometries which have a 2R or a 3R planar pair, but the resulting algorithm appears to be applicable to any manipulator geometry. Computation results are presented for a 2R and a 3R redundant planar pair
  • Keywords
    computational geometry; robots; computational geometry; manipulator; planar pair mechanical arms; reachable workspace; robots; Arm; End effectors; Geometry; Jacobian matrices; Kinematics; Manipulators; Nonlinear equations; Transmission line matrix methods;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
  • Conference_Location
    Philadelphia, PA
  • Print_ISBN
    0-8186-0852-8
  • Type

    conf

  • DOI
    10.1109/ROBOT.1988.12123
  • Filename
    12123
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1644642