A probability-based algorithm for workspace generation of robot manipulators

被引：0
|
作者：
Cao, Y [1 ]
Ding, JN [1 ]
Fabian, G [1 ]
Ning, Y [1 ]
机构：
[1] Tianjin Univ, Sch Mech Engn, Tianjin 300072, Peoples R China
来源：
ISTM/2005: 6TH INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, VOLS 1-9, CONFERENCE PROCEEDINGS | 2005年
关键词：
random probability; Monte Carlo method manipulator workspace; envelope curve;
D O I：
暂无
中图分类号：
TH7 [仪器、仪表];
学科分类号：
0804 ; 080401 ; 081102 ;
摘要：
The Monte Carlo method based on random probability is used to generate the workspaces of manipulator, according to the kinematics mapping relationship from the joint space to the workspace. The purpose of this paper is to further develop the Monte Carlo approach in order to determine the boundary surface of 3D (three dimensions) manipulator's workspace and display it graphically. The 3D workspace is addressed by enveloping boundary curves of each plane which are obtained by partitioning 3D space into various layers along. Finally, the boundary surface of a 3D robot manipulators is calculated to illustrate the process in detail. The method of the paper was shown to be simple and readily implemented in practice.
引用
收藏
页码：7310 / 7313
页数：4
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