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A COMPUTATIONAL APPROACH FOR CONSTRUCTING THE REACHABLE WORKSPACES FOR REDUNDANT MANIPULATORS

Tarek K. Alameldin, Norman Badler, Tarek Sobh, Raul Mihali

Abstract


An efficient computation of 3D workspaces for redundant manipulators is based on a “hybrid” algorithm between direct kinematics and screw theory. Direct kinematics enjoys low computational cost, but needs edge detection algorithms when workspace boundaries are needed. Screw theory has exponential computational cost per workspace point, but does not need edge detection. Screw theory allows computing workspace points in prespecified directions, while direct kinematics does not. Applications of the algorithm are discussed.

Keywords


Redundant manipulators; robot workspace; inverse kinematics; direct kinematics; robotics; automation

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References


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