0
TECHNICAL BRIEFS

Generation of Manipulator Workspace Boundary Geometry Using the Monte Carlo Method and Interactive Computer Graphics

[+] Author and Article Information
J. Rastegar

Department of Mechanical Engineering, State University of New York at Stony Brook, Stony Brook, NY 11794

D. Perel

New Jersey Institute of Technology, Newark, NJ 07102

J. Mech. Des 112(3), 452-454 (Sep 01, 1990) (3 pages) doi:10.1115/1.2912630 History: Received December 01, 1987; Online June 02, 2008

Abstract

The Monte Carlo method is used to generate the workspaces of manipulators, and the boundary surfaces that separate subspaces having different numbers of configurations (branches); i. e., the singularity surfaces. The method is shown to be simple and readily implementable. It does not use any inverse calculations, and no direct computation of points of singularity is required. The method is naturally suitable for graphical presentation of the geometry of the boundary (singularity) surfaces. The boundary surfaces can be analytically approximated. Limitations on joint motions may be included.

Copyright © 1990 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In