Publication

A complete method for workspace boundary determination

Conference Article

Conference

International Symposium on Advances in Robot Kinematics (ARK)

Edition

12th

Pages

329-338

Doc link

http://dx.doi.org/10.1007/978-90-481-9262-5_35

File

Download the digital copy of the doc pdf document

Abstract

This paper introduces a new method for workspace boundary determination on general lower-pair multi-body systems. The method uses a branch-and-prune technique to isolate the set of end effector singularities, and then classifies the points in such set according to whether they correspond to actual motion impediments in the workspace. The method can deal with open- or closed-chain systems, and is able to take joint limits into account. Advantages over other methods of similar applicability include its completeness and a simpler algorithmic structure. Examples are included that show its performance on benchmark problems documented in the literature.

Categories

manipulators, multi-robot systems, robot kinematics.

Author keywords

workspace determination, linear relaxation, closed-chain, multi-body system

Scientific reference

O. Bohigas, L. Ros and M. Manubens. A complete method for workspace boundary determination, 12th International Symposium on Advances in Robot Kinematics, 2010, Piran-Portorož, Slovenia, in Advances in Robot Kinematics: Motion in Man and Machine, pp. 329-338, Springer Verlag.