Title :
On the number of links and placement of telescoping manipulators in an environment with obstacles
Author :
Kolarov, Krasimir ; Roth, Bernard
Author_Institution :
Dept. of Mech. Eng., Stanford Univ., CA, USA
Abstract :
The authors consider the following problem: Given an environment with obstacles, what are the minimum number of telescoping links that will allow a manipulator operating in this environment to reach every point in the environment. A geometrical algorithm is presented for solving this problem in a two-dimensional planar case when the obstacles are polygonal. Solutions to some generalizations of this problem are outlined, including simultaneous design of a manipulator and its environment, design of a moving robot and/or obstacles, and design for a three-dimensional workspace. Some theorems on the bounding limits for the number of links of the manipulator are formulated.<>
Keywords :
computational geometry; inverse problems; kinematics; robots; geometrical algorithm; manipulator design; manipulator placement; obstacles; polygonal obstacles; telescoping manipulators; Algorithm design and analysis; Art; Computational geometry; Design engineering; Joining processes; Manipulators; Optical design; Robots; Shape; Telescopes;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240543
