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Authors: Adrián Peidró ; Óscar Reinoso ; Arturo Gil ; José María Marín ; Luis Payá and Yerai Berenguer

Affiliation: Miguel Hernández University, Spain

ISBN: 978-989-758-198-4

Keyword(s): Robot Manipulator, Redundant Robot, Workspace, Inverse Kinematics, Discretization Methods.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronics Systems ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper presents the workspace analysis of a redundant serial-parallel robot. Due to the complexity of the robot, the complex constraints (joint limits and no-interference between the legs of the robot), and the globally serial structure of the robot, a discretization method based on the forward kinematics would be most appropriate to compute the workspace. However, this widely used method can only obtain the external boundaries of the workspace, missing the internal barriers that hinder the motion of the robot, which may exist inside the boundaries. To avoid missing these barriers, we use a discretization method that uses the solution of the inverse kinematic problem of the robot. By studying the feasibility of attaining a desired position and orientation by the different branches of the solution to the inverse kinematics, the proposed discretization method is able to obtain both the external boundaries and the internal barriers of the workspace. Some examples are presented to sho w the importance of these internal barriers in the motions of the robot inside the workspace. (More)

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Paper citation in several formats:
Peidró, A.; Peidró, A.; Reinoso, Ó.; Gil, A.; Marín, J.; Payá, L.; Berenguer, Y. and Berenguer, Y. (2016). Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics.In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 412-420. DOI: 10.5220/0005984704120420

@conference{icinco16,
author={Adrián Peidró. and Adrián Peidró. and Óscar Reinoso. and Arturo Gil. and José María Marín. and Luis Payá. and Yerai Berenguer. and Yerai Berenguer.},
title={Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={412-420},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005984704120420},
isbn={978-989-758-198-4},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics
SN - 978-989-758-198-4
AU - Peidró, A.
AU - Peidró, A.
AU - Reinoso, Ó.
AU - Gil, A.
AU - Marín, J.
AU - Payá, L.
AU - Berenguer, Y.
AU - Berenguer, Y.
PY - 2016
SP - 412
EP - 420
DO - 10.5220/0005984704120420

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