Abstract
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.
| Original language | English (US) |
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| Title of host publication | Proc 1988 IEEE Int Conf Syst Man Cybern |
| Editors | Anon |
| Pages | 238-241 |
| Number of pages | 4 |
| State | Published - Dec 1 1988 |
| Event | Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics - Beijing/Shenyang, China Duration: Aug 8 1988 → Aug 12 1988 |
Other
| Other | Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics |
|---|---|
| City | Beijing/Shenyang, China |
| Period | 8/8/88 → 8/12/88 |
ASJC Scopus subject areas
- Engineering(all)