Path feasibility and modification based on robot workspace geometry

K. Y. Young*, C. H. Wu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages1027-1032
Number of pages6
ISBN (Print)0780304500
StatePublished - Jan 1 1992
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: Dec 11 1991Dec 13 1991

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

OtherProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period12/11/9112/13/91

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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