An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications

Details An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications

2007-07-24

arxiv.org/abs/0707.3553v1

Dans Proceedings of CK2005 - Proceedings of CK2005, International Workshop on Computational Kinematics, Cassino : Italie (05/2

Computer Science

Robotics

Scientific paper

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the workspace subregion reachable with four inverse kinematic solutions, the existence and the size of voids, and the size of the regions of feasible paths in the workspace.

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