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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

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Lai,  Z., and Menq,  C., 1988, “The Dexterous Workspace of Simple Manipulators,” IEEE J. Rob. Autom., 4, No. 1, pp. 99–103.
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Figures

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

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