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Proceedings Paper

Complexity of computing reachable workspaces for redundant manipulators
Author(s): Tarek Khaled Alameldin; Michael A. Palis; Sanguthevar Rajasekaran; Norman I. Badler
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Paper Abstract

The complexity ofcomputing 3D workspaces forjoint limited redundant manipulators is examined. Different types of reachable workspace volume and reachable workspace boundary problems are defined. Each type of volume problem is at least as hard as its corresponding type of boundary problem and each problem type is at least NP hard. New efficient and adaptive workspace point computation techniques are proposed (e. g. based on nonlinear programming) after complexity analyses of the corresponding decision problems.

Paper Details

Date Published: 1 February 1991
PDF: 9 pages
Proc. SPIE 1381, Intelligent Robots and Computer Vision IX: Algorithms and Techniques, (1 February 1991); doi: 10.1117/12.25153
Show Author Affiliations
Tarek Khaled Alameldin, Univ. of Pennsylvania (United States)
Michael A. Palis, Univ. of Pennsylvania (United States)
Sanguthevar Rajasekaran, Univ. of Pennsylvania (United States)
Norman I. Badler, Univ. of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 1381:
Intelligent Robots and Computer Vision IX: Algorithms and Techniques
David P. Casasent, Editor(s)

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