Computer Science – Robotics
Scientific paper
2007-05-08
25th Design Automation Conference (1999) 1-6
Computer Science
Robotics
Scientific paper
The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-connected regions are characterized by projection, onto the Cartesian workspace, of the connected components of the reachable configuration space defined in the Cartesian product of the Cartesian space by the joint space. Generalized octree models are used for the construction of all spaces. This study is illustrated with a simple planar fully-parallel manipulator.
Chablat Damien
Wenger Philippe
No associations
LandOfFree
Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.
If you have personal experience with Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators will most certainly appreciate the feedback.
Profile ID: LFWR-SCP-O-153376