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International Journal of Production Research Volume 24, 1986 - Issue 5
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Original Articles

Efficient motion planning for a planar manipulator based on dexterity and workspace geometryFootnote†

H. LIPKIN George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, 30332, U.S.A.
,
L. E. TORFASON Department of Mechanical Engineering, University of New Brunswick, Fredericton, N.B., E3B 5A3, Canada
&
J. DUFFY Director of Center for Intelligent Machines and Robotics University of Florida Gainesville, Florida, 32611, U.S.A.
Pages 1235-1244 | Received 01 Dec 1986, Published online: 22 Oct 2007

References

  • DESA , S. , and ROTH , B. , 1985 , Mechanics kinematics and dynamics , Chap. 3 , Recent Advances in Robotics , G. Beni and S. Hackwood, editors ( New York John Wiley and Sons ).
  • HANSEN , J. A. , GUPTA, K. C, and KAZEROUNIAN , S. M. K. , 1983 , Generation and Evaluation of the workspace of a manipulator . International Journal of Robotics Research , 2 , 22 .
  • KUMAR , A. , and WALDRON , K. J. , 1980 , The Dexterous Workspace. A.S.M.E. paper No. 80-DET-108 .
  • KUMAR , A. , and WALDRON , K. J. , 1981 , The workspace of a mechanical manipulator. Transactions A.S.M.E. Journal of Mechanical Design , 103 , 665 .
  • LOVELL , G. H. , 1983 , Quantification of dexterity for some planar and spatial robots. Master of Engineering thesis , University of Florida , U.S.A. .
  • LOVELL , G. H. , and DUFFY , J. , 1985 , Dexterity of the planar 3R RPR robots and corresponding spatial robot manipulators . Conference on Mechanisms and Machinery , Cranfield , U.K .
  • ROTH , B. , 1976 , Performance of manipulators from a kinematic viewpoint. National Bureau of Standards, Special Publication 459 .
  • SOMMERVILLE , D. M. Y. , 1938 , Analytical Conies ( London G. Bell and Sons, Ltd ).
  • VINOGRADOV , I. B. , KOBRINSKII , A. Y. , STEPANANKO , Y. A. , and TYVES , L. I. , 1968 , Features of the kinematics of manipulators and volume methods. Translation of Mechanics of Machines , Moscow , No. 27/28 .
  • †Presented at 1985 Conference on Mechanisms and Machinery, Cranfield Institute of Technology, U.K., 17 and 18 September 1985.

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