Robot workspace geometry for trajectory feasibility study

Chi-Haur Wu*, Kuu Young Young

*Corresponding author for this work

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

2 Scopus citations

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 languageEnglish (US)
Title of host publicationProc 1988 IEEE Int Conf Syst Man Cybern
Editors Anon
Pages238-241
Number of pages4
StatePublished - Dec 1 1988
EventProceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics - Beijing/Shenyang, China
Duration: Aug 8 1988Aug 12 1988

Other

OtherProceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics
CityBeijing/Shenyang, China
Period8/8/888/12/88

ASJC Scopus subject areas

  • Engineering(all)

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