Hybrid system for computing reachable workspaces for redundant manipulators

Tarek Khaled Alameldin; Tarek M. Sobh

doi:10.1117/12.25384

1 March 1991 Hybrid system for computing reachable workspaces for redundant manipulators

Tarek Khaled Alameldin, Tarek M. Sobh

Proceedings Volume 1386, Machine Vision Systems Integration in Industry; (1991) https://doi.org/10.1117/12.25384
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

An efficient computation of 3D workspaces for redundant manipulators is based on a " hybrid" a!- gorithm between direct kinematics and screw theory. Direct kinematics enjoys low computational cost but needs edge detection algorithms when workspace boundaries are needed. Screw theory has exponential computational cost per workspace point but does not need edge detection. Screw theory allows computing workspace points in prespecified directions while direct kinematics does not. Applications of the algorithm are discussed.

Citation Download Citation

Tarek Khaled Alameldin and Tarek M. Sobh "Hybrid system for computing reachable workspaces for redundant manipulators", Proc. SPIE 1386, Machine Vision Systems Integration in Industry, (1 March 1991); https://doi.org/10.1117/12.25384

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