On the optimal placement and task compatibility of manipulators

A criterion proposed in an earlier paper (Pamanes, 1989), to find the optimal placement of manipulators, is applied to the evaluation of the geometric compatibility of a manipulator with its task. Such criterion is extended in order to take into account obstacle avoidance. The authors introduce a general method for evaluation of the compatibility of manipulator/task, which considers the optimal placement with obstacle avoidance, and the possibility of execution of the task with different configurations of the manipulator. The evaluation of a six-degree-of-freedom manipulator with a task in a cluttered workstation is carried out by using the proposed method. The results show the effectiveness of this method.<
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