Path feasibility and modification based on robot workspace geometry

Kuu-Young Young*, C. H. Wu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The workspaces of robot manipulators consisting of different combinations of joint types with offsets in between are analyzed. The analysis concentrates on nonredundant wrist-partitioned types of robot manipulators. Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since the kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in a geometrical representation. Consequently, geometric information can be extracted from the tested path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinemetically infeasible can be modified according to different task requirements. To demonstrate the proposed path feasibility and modification schemes, simulations for a 6R robot manipulator are presented.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages1027-1032
Number of pages6
ISBN (Print)0780304500
DOIs
StatePublished - 1 Jan 1992
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: 11 Dec 199113 Dec 1991

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Conference

ConferenceProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period11/12/9113/12/91

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  • Cite this

    Young, K-Y., & Wu, C. H. (1992). Path feasibility and modification based on robot workspace geometry. In Proceedings of the IEEE Conference on Decision and Control (pp. 1027-1032). (Proceedings of the IEEE Conference on Decision and Control). Publ by IEEE. https://doi.org/10.1109/CDC.1991.261478