arXiv Open Access 2007

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

Damien Chablat Philippe Wenger

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Abstrak

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-connected regions are characterized by projection, onto the Cartesian workspace, of the connected components of the reachable configuration space defined in the Cartesian product of the Cartesian space by the joint space. Generalized octree models are used for the construction of all spaces. This study is illustrated with a simple planar fully-parallel manipulator.

Topik & Kata Kunci

cs.RO

Penulis (2)

Damien Chablat

Philippe Wenger

Format Sitasi

APA MLA BibTeX

Chablat, D., Wenger, P. (2007). Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators. https://arxiv.org/abs/0705.1037

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Informasi Jurnal

Tahun Terbit: 2007
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓