An Optimization Approach to the Determination of the Boundaries of Manipulator Workspaces-Reference-Cited by-同舟云学术

An Optimization Approach to the Determination of the Boundaries of Manipulator Workspaces

Published:1998-07-01 Issue:4 Volume:122 Page:447-456
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Snyman J. A.¹,du Plessis L. J.¹,Duffy Joseph²

Affiliation:

1. Multidisciplinary Design Optimization Group (MDOG), Department of Mechanical and Aeronautical Engineering, University of Pretoria 0002, South Africa

2. Center for Intelligent Machines and Robotics (CIMAR), Department of Mechanical Engineering, University of Florida, Gainesville, FL 32611

Abstract

Abstract An optimization approach to computing the boundaries of the workspaces of planar manipulators is presented. This numerical method consists of finding a suitable radiating point in the output coordinate space and then determining the points of intersection of a representative pencil of rays, emanating from the radiating point, with the boundary of the accessible set. This is done by application of a novel constrained optimization approach that has the considerable advantage that it may easily be automated. The method is illustrated by its application to two planar mechanisms, namely a planar Stewart platform and a planar redundantly controlled serial manipulator. In addition to the exterior boundaries of the workspace, interior curves that represent configurations at which controllability and mobility may be limited, are also mapped. The optimization methodology, implemented here for the planar case, may readily be extended to spatial Stewart platforms. [S1050-0472(00)00304-4]

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

https://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/122/4/447/6817829/447_1.pdf

Reference30 articles.

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3. Stewart, D. , 1965, “A Platform with Six Degrees of Freedom,” Proc. Inst. Mech. Eng., 180, pp. 371–381.

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