Optimization of the Workspace of a Three-Link Turning- Pair Connected Robot Arm

The workspace of a three-axis, turning-pair connected robot arm has been optimized using algebraic criteria for extreme axial and radial reach and the elimination of voids (Freuden stein and Primrose 1984). Based on these criteria, an effi cient, systematic search procedure has been developed for ma...

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Veröffentlicht in:	The International journal of robotics research 1986-06, Vol.5 (2), p.104-110
Hauptverfasser:	Lin, Chih-Chung Daniel, Freudenstein, Ferdinand
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Computer science control theory systems Control theory. Systems Exact sciences and technology Robotics
Online-Zugang:	Volltext
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Beschreibung
Zusammenfassung:	The workspace of a three-axis, turning-pair connected robot arm has been optimized using algebraic criteria for extreme axial and radial reach and the elimination of voids (Freuden stein and Primrose 1984). Based on these criteria, an effi cient, systematic search procedure has been developed for maximizing the workspace and the rvorkspace-to-void ratio of the R3 robot arm.
ISSN:	0278-3649 1741-3176
DOI:	10.1177/027836498600500211