Application of Screw Calculus to the Evaluation of Manipulator Workspace,
RUTGERS - THE STATE UNIV NEW BRUNSWICK N J DEPT OF MECHANICAL INDUSTRIAL AND AEROSPACE ENGINEERING
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In this paper, an analytical technique is presented that is based on screw calculus and dual-number matrices to derive the kinematic equations and the workspace formulations of robotic manipulators. A computational procedure for the quantitative evaluation of workspace volume is also developed. Several examples are chosen to demonstrate the usefulness and the effectiveness of the approach. One of the basic problems encountered in manipulator design is the determination of the shape of workspace and its characteristics. The workspace, which is the zone of operation of a manipulator, is the space associated with possible positions and orientations of the last link of a manipulator. A knowledge on the workspace of a manipulator can provide a measure of the efficiency of the design. Therefore, the investigation on workspace is of fundamental interest.