Workspace Topologies of Industrial 3R Manipulators | Zendy

Erika Ottaviano | Zendy; Marco Ceccarelli | Zendy; Manfred Husty | Zendy

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Workspace Topologies of Industrial 3R Manipulators

Author(s) -

Erika Ottaviano,

Marco Ceccarelli,

Manfred Husty

Publication year - 2007

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5679

Subject(s) - workspace , kinematics , network topology , computer science , set (abstract data type) , topology (electrical circuits) , characterization (materials science) , control theory (sociology) , control engineering , mathematics , artificial intelligence , engineering , robot , materials science , physics , nanotechnology , control (management) , classical mechanics , combinatorics , programming language , operating system

A mathematical analysis is used to characterize workspace topologies of industrial 3R manipulators. A level-set reconstruction of the workspace is formulated to identify characteristic points with fairly simple algebraic expressions. Thus, industrial 3R manipulators are classified as functions of workspace kinematic properties. Examples are illustrated to show practical usefulness of the proposed workspace characterization

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