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A path planning method based on an Obstacle-free workspace (abbreviated as OFW) is proposed for collision-free movements of multi-joint serial manipulators. Firstly, based on Monte Carlo and computer graphics, the planning path for a three revolute joints (3R) planar manipulator was created in the OFW. Secondly, the path of a spatial manipulator was obtained by taking advantage of the rapidly-exploring...
In order to depict a more accurate workspace boundary of planar robot manipulator, an improved numerical method is proposed in the paper. The algorithm searches boundary points of workspace from both axes, and connects these points in turn to form a closed curve. A robot manipulator is taken as an example, and least-square is applied to compare the errors of both workspaces which are generated by...
Dual arm robots are essential to dexterity and broaden greatly the types of activities the robot can achieve. Exact computation of the boundary shape and volume or area of dual arm robot workspace is very important for its optimum design and application. In the paper, a ground experimental system of a dual arm space robot in two-dimension was illustrated, and the kinematic model of the both arms was...
Exact computation of the workspace of robot manipulator is very important for its optimum design and application. Some analytical methods were proposed to study three dimensional (3D) workspace of robot manipulator. Unfortunately, these methods are not suitable from engineering standpoint due to their complexities in mathematics. In the paper, an integrated approach based on numerical calculation...
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...
This paper deals with the motion planning for the structure configuration of Modular self-reconfigurable Robotic System based cellular automata, which consists of a large number of autonomous robotic units called " cells." we present an approach to the self-reconfiguration problem where the initial configuration is transform to the desired configuration, the algorithms are inspired by cellular...
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