A geometric approach for determining inner and exterior boundaries of workspaces of planar manipulators


Autoria(s): Sen, Dibakar; Singh, B Nagesh
Data(s)

01/02/2008

Resumo

In this paper a method to determine the internal and external boundaries of planar workspaces, represented with an ordered set of points, is presented. The sequence of points are grouped and can be interpreted to form a sequence of curves. Three successive curves are used for determining the instantaneous center of rotation for the second one of them. The two extremal points on the curve with respect to the instantaneous center are recognized as singular points. The chronological ordering of these singular points is used to generate the two envelope curves, which are potentially intersecting. Methods have been presented in the paper for the determination of the workspace boundary from the envelope curves. Strategies to deal with the manipulators with joint limits and various degenerate situations have also been discussed. The computational steps being completely geometric, the method does not require the knowledge about the manipulator's kinematics. Hence, it can be used for the workspace of arbitrary planar manipulators. A number of illustrative examples demonstrate the efficacy of the proposed method.

Formato

application/pdf

Identificador

http://eprints.iisc.ernet.in/25864/1/GetPDFServlet.pdf

Sen, Dibakar and Singh, B Nagesh (2008) A geometric approach for determining inner and exterior boundaries of workspaces of planar manipulators. In: Journal of Mechanical Design, 130 (2). 022306.

Publicador

The American Society of Mechanical Engineers

Relação

http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JMDEDB000130000002022306000001&idtype=cvips&gifs=Yes

http://eprints.iisc.ernet.in/25864/

Palavras-Chave #Mechanical Engineering
Tipo

Journal Article

PeerReviewed