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Proceedings Paper

Hybrid system for computing reachable workspaces for redundant manipulators
Author(s): Tarek Khaled Alameldin; Tarek M. Sobh
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Paper Abstract

An efficient computation of 3D workspaces for redundant manipulators is based on a " hybrid" a!- gorithm between direct kinematics and screw theory. Direct kinematics enjoys low computational cost but needs edge detection algorithms when workspace boundaries are needed. Screw theory has exponential computational cost per workspace point but does not need edge detection. Screw theory allows computing workspace points in prespecified directions while direct kinematics does not. Applications of the algorithm are discussed.

Paper Details

Date Published: 1 March 1991
PDF: 9 pages
Proc. SPIE 1386, Machine Vision Systems Integration in Industry, (1 March 1991); doi: 10.1117/12.25384
Show Author Affiliations
Tarek Khaled Alameldin, Univ. of Pennsylvania (United States)
Tarek M. Sobh, Univ. of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 1386:
Machine Vision Systems Integration in Industry
Bruce G. Batchelor; Frederick M. Waltz, Editor(s)

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