Identification of the workspace boundary of a general 3-R manipulator

Journal of Mechanical Design

Volumn 128, Issue 1, 2006, Pages 236-242

  Ottaviano, Erika ^a   Husty, Manfred ^b   Ceccarelli, Marco ^a  

^a UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

^b UNIVERSITY OF INNSBRUCK   (Austria)

Author keywords

Geometric singularities; Kinematics; Serial manipulators; Void; Workspace

Indexed keywords

BODIES OF REVOLUTION; COMPUTATIONAL GEOMETRY; GRAPH THEORY; INVERSE KINEMATICS; INVERSE PROBLEMS; POLYNOMIALS;

ALGEBRAIC FORMULATION; BOUNDARY CURVE; CARTESIAN SPACE; GEOMETRIC SINGULARITIES; WORKSPACE BOUNDARY;

MANIPULATORS;

EID: 33645761386     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2120807     Document Type: Article

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