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TECHNICAL PAPERS

A Geometric Approach for Determining Exact Point Accessibility of Robotic Manipulations

[+] Author and Article Information
Jason W. Rauchfuss, Daniel C. H. Yang

Mechanical and Aerospace Engineering Department, University of California, Los Angeles, CA 90095-1597

J. Mech. Des 122(3), 287-293 (Jun 01, 1997) (7 pages) doi:10.1115/1.1286084 History: Received June 01, 1997
Copyright © 2000 by ASME
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References

Figures

Grahic Jump Location
Service sphere intersecting a wrist workspace boundary surface
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Accessibility region on service sphere due to θ4 limit
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Specially selected neutral coordinate system
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Reference frames for articulated manipulator
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Sections of workspace boundary surfaces
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Service sphere intersecting wrist workspace plane boundary surface
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Service sphere intersecting wrist workspace torus boundary surface
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Service sphere intersecting wrist workspace sphere boundary surface
Grahic Jump Location
Manipulator with θ4 fixed at limit
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Manipulator with θ5 fixed at limit
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Accessibility region due to wrist workspace constraints for 0p1
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Accessibility region due lower plane constraint for 0p2
Grahic Jump Location
Accessibility region due to θ4 wrist joint limit for 0p2
Grahic Jump Location
Accessibility region due to θ5 wrist joint limit for 0p2
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Overall accessibility for 0p2

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