TY - GEN
T1 - Robot workspace geometry for trajectory feasibility study
AU - Wu, Chi haur
AU - Young, Kuu-Young
PY - 1988/12/1
Y1 - 1988/12/1
N2 - Geometrical analysis was performed for a 6-R (six-revolute-joint) robot manipulator with the purpose of finding suitable analytical expressions to describe the workspace of the structure so that other geometrical constraints such as different configurations and singular condition can also be analyzed and solved. In particular, to verify the kinematic feasibility of a planned trajectory, criteria based on the workspace geometry are developed for verifying whether each frame of a proposed trajectory is within the robot's kinematic constraints. Position and orientation feasibility studies are presented.
AB - Geometrical analysis was performed for a 6-R (six-revolute-joint) robot manipulator with the purpose of finding suitable analytical expressions to describe the workspace of the structure so that other geometrical constraints such as different configurations and singular condition can also be analyzed and solved. In particular, to verify the kinematic feasibility of a planned trajectory, criteria based on the workspace geometry are developed for verifying whether each frame of a proposed trajectory is within the robot's kinematic constraints. Position and orientation feasibility studies are presented.
UR - http://www.scopus.com/inward/record.url?scp=0024174325&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.1988.754284
DO - 10.1109/ICSMC.1988.754284
M3 - Conference contribution
AN - SCOPUS:0024174325
SN - 7800030393
T3 - Proc 1988 IEEE Int Conf Syst Man Cybern
SP - 238
EP - 241
BT - Proc 1988 IEEE Int Conf Syst Man Cybern
A2 - Anon, null
T2 - Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics
Y2 - 8 August 1988 through 12 August 1988
ER -