A computational geometry approach for determination of boundary of workspaces of planar manipulators with arbitrary topology

Dibakar, Sen and Mruthyunjaya, TS (1999) A computational geometry approach for determination of boundary of workspaces of planar manipulators with arbitrary topology. In: Mechanism and Machine Theory, 34 (1). pp. 149-169.

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Abstract

The paper presents a fast and reliable method of determination of the external boundary of workspaces of planar manipulators with arbitrary topology. In this method, first, enough number (not necessarily very large) of points are generated in the workspace and then techniques of computational geometry are applied to determine the boundary. The method of determination of boundary of the set of points is based on the modified gift wrapper algorithm available in literature on computational morphology. The original algorithm is modified to make it suitable to the domain of workspace analysis, and enhanced by using the knowledge of order in which the points are generated to determine the boundary. The method is fast, accurate, robust and stable, and can be applied to the workspaces of any planar manipulator. Using the method of modular kinematics for solving direct kinematics, workspaces generated by different branches of the manipulator are distinctly identified. A number of worked out examples are included to illustrate the different features of the present method. (C) 1998 Elsevier Science Ltd. All rights reserved.

Item Type:	Journal Article
Publication:	Mechanism and Machine Theory
Publisher:	Elsevier Science.
Additional Information:	Copyright of this article belongs to Elsevier Science.
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	02 Mar 2009 09:01
Last Modified:	19 Sep 2010 04:58
URI:	http://eprints.iisc.ac.in/id/eprint/17734

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