Paper Info
Title
On the evaluation of reachable workspace for redundant manipulators
Abstract
In this paper, we discuss the problem of computing the reachable workspace for redundant manipulators. Algorithms that compute workspace boundary points by using screw theory are presented. These algorithms cannot distinguish holes and voids that are buried within the reachable workspace. We present an algorithm that utilizes inverse kinematics in order to detect the unreachable regions (holes and voids) within the reachable workspace.
Year
DOI
Venue
1990
10.1145/98894.99128
IEA/AIE (Vol. 1)
Keywords
Field
DocType
screw theory,inverse kinematics,workspace boundary point,reachable workspace,unreachable region,redundant manipulator
Data mining,Inverse kinematics,Computer science,Simulation,Workspace,Algorithm,Screw theory
Conference
ISBN
Citations 
PageRank 
0-89791-372-8
2
1.51
References 
Authors
0
2
Name
Order
Citations
PageRank
Tarek K. Alameldin126.92
Tarek Sobh210917.84