By Topic

Shape and Size Computation of Planar Robot Workspace

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Yi Cao ; Henan Res. Center of Autom. Eng. Technol., Henan Acad. of Sci., Zhengzhou, China ; Suiping Qi ; Ke Lu ; Yi Zang
more authors

The workspace of a robot is an important criterion in evaluating manipulator geometry and kinematic performance. A systematical approach was presented in the paper to computing the shape and size of the workspace of planar robot manipulator. Firstly, a novel algorithm based on the Monte Carlo method was proposed to depict the boundary curves of robot workspace. Then, two methods for calculating area of the workspace were presented. One method based on numerical integration algorithm on closed curves. And the second method, the area can be estimated by probability and statistics. A planar robot manipulator consisting of 3 revolute joints was used as an example to illustrate the systematical approach.

Published in:

Computer Science and Information Engineering, 2009 WRI World Congress on  (Volume:2 )

Date of Conference:

March 31 2009-April 2 2009