Title :
Shape and Size Computation of Planar Robot Workspace
Author :
Cao, Yi ; Qi, Suiping ; Lu, Ke ; Zang, Yi ; Yang, Guanying
Author_Institution :
Henan Res. Center of Autom. Eng. Technol., Henan Acad. of Sci., Zhengzhou, China
fDate :
March 31 2009-April 2 2009
Abstract :
The workspace of a robot is an important criterion in evaluating manipulator geometry and kinematic performance. A systematical approach was presented in the paper to computing the shape and size of the workspace of planar robot manipulator. Firstly, a novel algorithm based on the Monte Carlo method was proposed to depict the boundary curves of robot workspace. Then, two methods for calculating area of the workspace were presented. One method based on numerical integration algorithm on closed curves. And the second method, the area can be estimated by probability and statistics. A planar robot manipulator consisting of 3 revolute joints was used as an example to illustrate the systematical approach.
Keywords :
Monte Carlo methods; geometry; manipulator kinematics; Monte Carlo method; manipulator geometry evaluation; manipulator kinematic; planar robot manipulator; shape computation; size computation; Computational geometry; Computer science; Information geometry; Manipulators; Orbital robotics; Probability; Robot kinematics; Robotics and automation; Shape; Statistics; robot workspace; shape and size;
Conference_Titel :
Computer Science and Information Engineering, 2009 WRI World Congress on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-0-7695-3507-4
DOI :
10.1109/CSIE.2009.266
