Title :
A numerical evaluation of the workspace of a seven-axis, redundant manipulator
Author :
Ceccarelli, Marco ; Angeles, Jorge
Author_Institution :
Dipt. de Meccanica, Strutture Ambiente e Territorio, Cassino Univ., Italy
Abstract :
The workspace of REDIESTRO, a seven-axis manipulator with isotropic architecture, is evaluated numerically. Figures of merit such as volume, cross-section area, and dimensional ratio, are given. A parametric study of these figures is included
Keywords :
redundant manipulators; REDIESTRO; cross-section area; dimensional ratio; isotropic architecture; numerical workspace evaluation; seven-axis redundant manipulator; volume; DH-HEMTs; Electronic mail; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Parametric study; Prototypes; Robots; Robustness;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846412
