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

fYear

1991

fDate

19-22 June 1991

Firstpage

988

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICAR.1991.240543

Filename

240543