Abstract:
The workspace of a parallel robot has a complex shape and is difficult to model. Hence verifying if an arbitrary trajectory lies entirely within this workspace is a compl...Show MoreMetadata
Abstract:
The workspace of a parallel robot has a complex shape and is difficult to model. Hence verifying if an arbitrary trajectory lies entirely within this workspace is a complex issue. We present an algorithm that allow such verification for any trajectory such that the pose parameters are arbitrary analytical time function. The proposed algorithm allows to check very quickly the validity of almost any trajectory (or of a surface/volume) in a guaranteed manner. Furthermore this algorithm allows one to deal with uncertainties in the followed trajectory and in the geometrical description of the robot.
Published in: IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Date of Conference: 26 April 2004 - 01 May 2004
Date Added to IEEE Xplore: 06 July 2004
Print ISBN:0-7803-8232-3
Print ISSN: 1050-4729