A correlation between the state‐space and the task‐oriented path in the presence of obstacles for mechanical manipulators
- 1 January 1994
- journal article
- research article
- Published by Wiley in Journal of Robotic Systems
- Vol. 11 (5) , 441-448
- https://doi.org/10.1002/rob.4620110509
Abstract
This article proposes workspace analysis for redundant robot manipulators in the presence of obstacles. The analysis, based on a 3R planar robot and disk‐shaped obstacles, is considered in detail and a computer program is developed for the calculation of the collision‐free region of redundant robots. The research focuses on the state space of the robot with its end‐effector forced to follow a linear path, with particular consideration of the effects of the link geometries and the location of the obstacles. © 1994 John Wiley & Sons, Inc.Keywords
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