Workspace Topologies of Industrial 3R Manipulators

被引：0
|
作者：
Ottaviano, Erika [1 ]
Ceccarelli, Marco [1 ]
Husty, Manfred [2 ]
机构：
[1] Univ Cassino, DiMSAT, LARM Lab Robot & Mechatron, I-03043 Cassino, FR, Italy
[2] Univ Innsbruck, Inst Engn Math Geometry & Comp Sci, A-6020 Innsbruck, Austria
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2008年 / 5卷 / 02期
关键词：
Manipulators; Workspace Analysis; Classification;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A mathematical analysis is used to characterize workspace topologies of industrial 3R manipulators. A level-set reconstruction of the workspace is formulated to identify characteristic points with fairly simple algebraic expressions. Thus, industrial 3R manipulators are classified as functions Of workspace kinematic properties. Examples are illustrated to show practical usefulness of the proposed workspace characterization.
引用
收藏
页码：215 / 222
页数：8
相关论文
共 50 条
  • [1] A study on workspace topologies of 3R industrial-type manipulators
    Ottaviano, Erika
    Husty, Manfred
    Ceccarelli, Marco
    [J]. 2006 IEEE-TTTC INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS, VOL 2, PROCEEDINGS, 2006, : 237 - 242
  • [2] An exhaustive study of the workspace topologies of all 3R orthogonal manipulators with geometric simplifications
    Zein, Mazen
    Wenger, Philippe
    Chablat, Damien
    [J]. MECHANISM AND MACHINE THEORY, 2006, 41 (08) : 971 - 986
  • [3] A classification of 3R orthogonal manipulators by the topology of their workspace
    Baili, M
    Wenger, P
    Chablat, D
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 1933 - 1938
  • [4] A Geometrical Characterization of Workspace Singularities in 3R Manipulators
    Husty, M.
    Ottaviano, E.
    Ceccarelli, M.
    [J]. ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND DESIGN, 2008, : 411 - +
  • [5] A Cartesian representation for the boundary workspace of 3R manipulators
    Ottaviano, E
    Husty, M
    Ceccarelli, M
    [J]. ON ADVANCES IN ROBOT KINEMATICS, 2004, : 247 - 254
  • [6] Design and optimization of 3R manipulators using the workspace features
    Bergamaschi, PR
    Nogueira, AC
    Saramago, SDP
    [J]. APPLIED MATHEMATICS AND COMPUTATION, 2006, 172 (01) : 439 - 463
  • [7] A multi-objective optimum design of general 3R manipulators for prescribed workspace limits
    Ceccarelli, M
    Lanni, C
    [J]. MECHANISM AND MACHINE THEORY, 2004, 39 (02) : 119 - 132
  • [8] Classification of 3R positioning manipulators
    Wenger, P
    [J]. JOURNAL OF MECHANICAL DESIGN, 1998, 120 (02) : 327 - 332
  • [9] Workspaces classification of 3R orthogonal manipulators
    Wenger, P
    Baili, M
    Chablat, D
    [J]. ON ADVANCES IN ROBOT KINEMATICS, 2004, : 219 - 228
  • [10] An Appropriate Tool for Optimizing the Workspace of 3R Robot Manipulator
    Panda, S.
    Mishra, D.
    Biswal, B. B.
    [J]. 2009 WORLD CONGRESS ON NATURE & BIOLOGICALLY INSPIRED COMPUTING (NABIC 2009), 2009, : 1155 - +
12345