Workspace Topologies of Industrial 3R Manipulators-Reference-Cited by-同舟云学术

Workspace Topologies of Industrial 3R Manipulators

Published:2007-09-01 Issue:3 Volume:4 Page:38
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Ottaviano Erika¹,Ceccarelli Marco¹,Husty Manfred²

Affiliation:

1. LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy

2. Institute for Engineering Mathematics Geometry and Computer Science, University of Innsbruck, Technikerstr. 13, A-6020, Innsbruck, Austria

Abstract

A mathematical analysis is used to characterize workspace topologies of industrial 3R manipulators. A level-set reconstruction of the workspace is formulated to identify characteristic points with fairly simple algebraic expressions. Thus, industrial 3R manipulators are classified as functions of workspace kinematic properties. Examples are illustrated to show practical usefulness of the proposed workspace characterization.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/5679

Reference16 articles.

1. A classification of 3R regional manipulator singularities and geometries

2. A formulation for the workspace boundary of general N-revolute manipulators

3. On the Analysis and Synthesis of the Workspace of a Three-Link, Turning-Pair Connected Robot Arm

4. Elementary Geometry of Algebraic Curves

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