Mechanics Based Design of Structures and Machines · 2008 · 66 citations · 21 references
Robot KinematicsRobotic SystemsEngineeringField RoboticsComputer-aided DesignRobot Workspace CharacteristicsFairly General AlgorithmGeneral AlgorithmParallel Complexity TheoryIndustrial RoboticsSystems EngineeringBinary RepresentationKinematicsParallel ComputingComputational GeometryGeometric ModelingMachine SystemsMechatronicsDesignComputer EngineeringComputer ScienceNatural SciencesAutomationMechanical SystemsParallel ProgrammingWorkspace CharacteristicsRobotics
Abstract In this paper a fairly general algorithm is proposed for the determination and evaluation of the workspace both for serial and for parallel manipulators. The procedure is based on a binary representation of the workspace and presents the possibility for a general evaluation of the shape and volume for robot workspace characteristics. Two examples are presented to show the practical feasibility of the proposed procedure and its practical results.
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Introduction to robotics: Mechanics and control
M.G. Rodd · Automatica · 1987 · 1.5K citations
Mohamed A. Mahmoud · SSRN Electronic Journal · 2024 · 316 citations · Full text
Abstract Machine, Machine Theory, Computational Model Theory +3
The Workspaces of a Mechanical Manipulator
Alok Kumar, Kenneth J. Waldron · Journal of Mechanical Design · 1981 · 307 citations
Design Considerations for Manipulator Workspace
K. C. Gupta, Bernard Roth · Journal of Mechanical Design · 1982 · 246 citations