TY - GEN
T1 - Path feasibility and modification based on robot workspace geometry
AU - Young, Kuu-Young
AU - Wu, C. H.
PY - 1992/1/1
Y1 - 1992/1/1
N2 - The workspaces of robot manipulators consisting of different combinations of joint types with offsets in between are analyzed. The analysis concentrates on nonredundant wrist-partitioned types of robot manipulators. Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since the kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in a geometrical representation. Consequently, geometric information can be extracted from the tested path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinemetically infeasible can be modified according to different task requirements. To demonstrate the proposed path feasibility and modification schemes, simulations for a 6R robot manipulator are presented.
AB - The workspaces of robot manipulators consisting of different combinations of joint types with offsets in between are analyzed. The analysis concentrates on nonredundant wrist-partitioned types of robot manipulators. Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since the kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in a geometrical representation. Consequently, geometric information can be extracted from the tested path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinemetically infeasible can be modified according to different task requirements. To demonstrate the proposed path feasibility and modification schemes, simulations for a 6R robot manipulator are presented.
UR - http://www.scopus.com/inward/record.url?scp=0026676730&partnerID=8YFLogxK
U2 - 10.1109/CDC.1991.261478
DO - 10.1109/CDC.1991.261478
M3 - Conference contribution
AN - SCOPUS:0026676730
SN - 0780304500
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1027
EP - 1032
BT - Proceedings of the IEEE Conference on Decision and Control
PB - Publ by IEEE
T2 - Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
Y2 - 11 December 1991 through 13 December 1991
ER -