A study of multiple manipulator inverse kinematic solutions with applications to trajectory planning and workspace determination

Borrel, Pascale; Liégeois, A.

doi:10.1109/robot.1986.1087554

Cited by 73 publications

(50 citation statements)

References 3 publications

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“…In this singularity, the manipulator cannot produce an instantaneous motion along a line passing through the two mechanism ICR and the end-effector control point. The above singularities divide the joint space into singularity-free domains called aspects [17]. The singularity θ 1 = −θ 2 ±π produces two lines while the singularity defined by equation (14) gives a curve, as shown in figure 4.…”

Section: Singularity Analysis and Aspectsmentioning

confidence: 99%

Kinematic Analysis of Planar Tensegrity 2-X Manipulators

Furet

Max

Wenger

2018

Advances in Robot Kinematics 2018

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Abstract. This paper analyzes the kinematics of planar tensegrity manipulators made of two Snelson's X-shape mechanisms in series. The variable instantaneous center of rotation of each mechanism renders the kinematic analysis of the resulting manipulator more challenging. A general formulation of the direct kinematics is set. A method is proposed to solve the inverse kinematic problem in a symbolic way and up to four inverse kinematic solutions are found. The singularities of the manipulator are shown to divide the joint space into two singularity-free components, showing for the first time a planar positioning manipulator that can be cuspidal. The workspace is determined and plotted for different values of the geometric parameters.

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Section: Singularity Analysis and Aspectsmentioning

confidence: 99%

Kinematic Analysis of Planar Tensegrity 2-X Manipulators

Furet

Max

Wenger

2018

Advances in Robot Kinematics 2018

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“…Borrel and Liegeois [86] proposed that the manipulator workspace can be divided into volumes corresponding to different classes of configurations called aspects. The minor measure is given as:…”

Section: Minor Measurementioning

confidence: 99%

Manipulator Performance Measures - A Comprehensive Literature Survey

Patel

Sobh

2014

J Intell Robot Syst

230

121

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Abstract:Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.Response to Reviewers: Authors' response to the reviewers' comments is attached as .PDF files Powered by Editorial Manager® and ProduXion Manager® from Aries Systems CorporationManipulator Performance Measures The total number of words of the manuscript, including entire text from title page to figure legends: 12840The number of words of the abstract: 125The number of figures: 7The number of tables: 0 AbstractPerformance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.

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“…This property, in fact, was used by Borrel and Liegeois (Borrel, 1986) to determine the boundaries of different kinds of joint solutions.…”

Section: The Propertis Of the New Measurementioning

confidence: 99%