Robot positioning based on point-to-point motion capability [electronic resource].
- Washington, D.C. : United States. Dept. of Energy, 2000.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
- Physical Description:
- vp : digital, PDF file
- Additional Creators:
- Argonne National Laboratory
United States. Department of Energy
United States. Department of Energy. Office of Scientific and Technical Information
- This paper presents an optimal search method for determining the base location of a robot manipulator so that the robot can have a designated point-to-point (PTP) motion capabilities. Based on the topological characterization of the manipulator workspace and the definitions of various p-connectivity, a computational method is developed for enumerating various PTP motion capabilities into quantitative cost functions. Then an unconstrained search by minimizing the cost function yields the task feasible location of the robot base. This methodology is useful for placement of mobile manipulators and robotic workcell layout design.
- Published through SciTech Connect.
IEEE/RRSJ International Conference on Intelligent Robots and Systems, Takamatsu (JP), 10/30/2000--11/05/2000.
Park, Y. S.; Cho, H. S.; Koh, K. C.
- Funding Information:
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