A COMPUTATIONAL APPROACH FOR CONSTRUCTING THE REACHABLE WORKSPACES FOR REDUNDANT MANIPULATORS

Authors

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

DOI:

https://doi.org/10.47839/ijc.2.1.162

Keywords:

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

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.

References

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Published

2014-08-01

How to Cite

Alameldin, T. K., Badler, N., Sobh, T., & Mihali, R. (2014). A COMPUTATIONAL APPROACH FOR CONSTRUCTING THE REACHABLE WORKSPACES FOR REDUNDANT MANIPULATORS. International Journal of Computing, 2(1), 48-52. https://doi.org/10.47839/ijc.2.1.162

Issue

2003, Volume 2, Issue 1

Section

Articles

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