Workspace Topologies of Industrial 3R Manipulators

Erika Ottaviano; Marco Ceccarelli; Manfred Husty

doi:10.5772/5679

International Journal of Advanced Robotic Systems (Sep 2007)

Workspace Topologies of Industrial 3R Manipulators

Erika Ottaviano,
Marco Ceccarelli,
Manfred Husty

Affiliations

Erika Ottaviano: LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy
Marco Ceccarelli: LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy
Manfred Husty: Institute for Engineering Mathematics Geometry and Computer Science, University of Innsbruck, Technikerstr. 13, A-6020, Innsbruck, Austria

DOI: https://doi.org/10.5772/5679
Journal volume & issue: Vol. 4

Abstract

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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.

Published in International Journal of Advanced Robotic Systems

ISSN: 1729-8814 (Online)
Publisher: SAGE Publishing
Country of publisher: United Kingdom
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering: Electronics; Science: Mathematics: Instruments and machines: Electronic computers. Computer science
Website: https://journals.sagepub.com/home/arx

About the journal