General Algorithm for Automatic Generation of the Workspace for n-link Planar Redundant Manipulators

[+] Author and Article Information
Sang-Joo Kwon

Agency for Defence Development, P.O. Box 35, 305-600 Taejeon, Korea

Youngil Youm, Wan Kyun Chung

Mechanical Engineering Department, Pohang University of Science and Technology, Pohang P.O. BOX 125, 790-600 Pohang, Korea

J. Mech. Des 116(3), 967-969 (Sep 01, 1994) (3 pages) doi:10.1115/1.2919478 History: Received February 01, 1991; Revised August 01, 1993; Online June 02, 2008


An efficient algorithm to simulate the workspace for a n-link redundant manipulator with rotating base is developed. The unique feature of the algorithm is its ability to automatically generate the binary angle selection code for the given manipulator. This code system makes it possible to avoid repetitions in calculating positions and plotting arcs for the workspace and thus saves considerable computing and graphic time. Two types of workspace are possible using this algorithm. Numerical examples including the workspace of human arm motion and that of a 20-link system are demonstrated to illustrate the effectiveness of the algorithm.

Copyright © 1994 by The American Society of Mechanical Engineers
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