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contributor authorSang-Joo Kwon
contributor authorYoungil Youm
contributor authorWan Kyun Chung
date accessioned2017-05-08T23:45:02Z
date available2017-05-08T23:45:02Z
date copyrightSeptember, 1994
date issued1994
identifier issn1050-0472
identifier otherJMDEDB-27620#967_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/114058
description abstractAn efficient algorithm to simulate the workspace for a n-link redundant manipulator with rotating base is developed. The unique feature of the algorithm is its ability to automatically generate the binary angle selection code for the given manipulator. This code system makes it possible to avoid repetitions in calculating positions and plotting arcs for the workspace and thus saves considerable computing and graphic time. Two types of workspace are possible using this algorithm. Numerical examples including the workspace of human arm motion and that of a 20-link system are demonstrated to illustrate the effectiveness of the algorithm.
publisherThe American Society of Mechanical Engineers (ASME)
titleGeneral Algorithm for Automatic Generation of the Workspace for n-link Planar Redundant Manipulators
typeJournal Paper
journal volume116
journal issue3
journal titleJournal of Mechanical Design
identifier doi10.1115/1.2919478
journal fristpage967
journal lastpage969
identifier eissn1528-9001
keywordsAlgorithms AND Redundant manipulators
treeJournal of Mechanical Design:;1994:;volume( 116 ):;issue: 003
contenttypeFulltext


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