A Complete Method for Workspace Boundary Determination on General Structure Manipulators
نویسندگان
چکیده
منابع مشابه
A Complete Method for Workspace Boundary Determination
This paper introduces a new method for workspace boundary determination on general lower-pair multi-body systems. The method uses a branch-and-prune technique to isolate the set of end effector singularities, and then classifies the points in such set according to whether they correspond to actual motion impediments in the workspace. The method can deal with openor closed-chain systems, and is ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2012
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2012.2196311