A Fast Algorithm for Workspace of a Robotic Manipulator

Lei Shi; Ming Heng Xu; Bo Liu

doi:10.4028/www.scientific.net/AMR.538-541.2614

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 538-541A Fast Algorithm for Workspace of a Robotic...

A Fast Algorithm for Workspace of a Robotic Manipulator

Abstract:

Numerical method is extensively used to determine the workspace of a robotic manipulator. However, four or more degree manipulator mathematic models are too computationally intensive to be finished by computer. In this paper , a fast algorithm for workspace of a robotic manipulator is introduced. The method is based upon the singularity analysis of serial manipulator so that the computation amount is greatly reduced. The practical example of 6R manipulator is treated with this method. Its workspace is drawn and determined.

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Periodical:

Advanced Materials Research (Volumes 538-541)

Pages:

2614-2617

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.538-541.2614

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Online since:

June 2012

Authors:

Lei Shi, Ming Heng Xu, Bo Liu

Keywords:

Algorithm (GA), Manipulator, Workspace

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References

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