RESEARCH PAPERS: Robotics Papers

Generation and Evaluation of a Manipulator Workspace Based on Optimum Path Search

[+] Author and Article Information
M. Cwiakala

Department of Mechanical and Aerospace Engineering, Rutgers University, New Brunswick, NJ 08903

T. W. Lee

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

J. Mech., Trans., and Automation 107(2), 245-255 (Jun 01, 1985) (11 pages) doi:10.1115/1.3258717 History: Received July 12, 1984; Online November 19, 2009


This paper presents an algorithm using an optimization technique to outline the boundary profile of a manipulator workspace and perform quantitative evaluation of the workspace volume. The algorithm is applicable to general N -link manipulators with not only the revolute joints, but also joints of other types, such as, the prismatic and cylindrical joints. It is a partial-scanning technique which offers significant reduction on the number of scanning points to generate the workspace and the method is particularly efficient in dealing with complicated manipulator geometry. The [3 × 3] dual-number matrix method is used as the basis for analytical formulations, and consequently, computational advantage is gained. A comparative study is given with a previously used algorithm. Several specific examples involving industrial robots of various kinds are given to demonstrate the capability of the algorithm.

Copyright © 1985 by ASME
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