TRAJECTORY FEASIBILITY BASED ON CARTESIAN WORKSPACE FOR ROBOT MANIPULATORS.

Chi-Haur Wu*, Hernando Valencia

*Corresponding author for this work

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

2 Scopus citations

Abstract

A feasible Cartesian trajectory of a robot manipulator means that every point along the planned trajectory is within the workspace of the robot. Deciding the feasibility of a Cartesian trajectory given to a robot manipulator is an important element of an intelligent robot system. A decision method based on the robot workspace geometry is presented. The method treats the workspace of a robot manipulator as a geometrical object, then this geometrical workspace can be properly described and utilized to determine the feasibility of a Cartesian trajectory. Due to the complexity of the general case, a robot manipulator system with six revolute joints is selected as a case study.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1865-1870
Number of pages6
ISBN (Print)0818606959
StatePublished - Jan 1 1986

ASJC Scopus subject areas

  • Engineering(all)

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