An Integrated Method for Workspace Computation of Robot Manipulator

Cao, Yi; Qi, Suiping; Lü, Ke; Zang, Yi; Yang, Guanying

doi:10.1109/cso.2009.161

Cited by 13 publications

(16 citation statements)

References 2 publications

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“…[17][18][19][20][21] With the development of computer technologies, researchers currently use the numerical methods to present the dexterous hands' workspace. 22,23 The Monte Carlo method, a simple and practical numerical method, has been widely adopted with lower accuracy disadvantages. 11,24,25 First, although millions of discrete points are calculated to visualize the¯ngertip workspace, Monte Carlo method may be not enough to represent the whole workspace, and may miss some key reachable positions of the¯ngertip.…”

Section: Etcmentioning

confidence: 99%

Workspace Modeling and Analysis for Dexterous Hands

Yang

Zhang

2015

Int. J. Human. Robot.

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The workspace is a fundamental feature for a dexterous hand to grasping plan, motion control, and mechanical design. Although the graphic, numerical, or analytical methods are valid to generate the workspace of dexterous hands, but there exist several defects for these methods to describe the workspace characteristics, such as forms, boundaries, volumes, and intersection workspaces. We propose a combined modeling approach to visualize and analyze the workspace of YWZ dexterous hand, which has¯ve¯ngers, 20 degrees of freedom (Dofs). The proposed approach is also¯t for similar dexterous hands to generate their precise workspaces. After a brief mechanism introduction of YWZ dexterous hand, a displacement equation of its index¯nger is deduced to calculate the¯ngertip positions in three-dimension (3D) Euclidean space. Then, a two-dimension (2D) boundary¯gure enclosing the°exion-extension motion¯eld of the¯nger is drawn by the displacement equation. Taking this boundary¯gure as a sketch in a CAD modeling environment, we further model a vivid 3D¯nger workspace, which is relative with the abduction-adduction motion of the¯nger. Besides, we generate the whole workspace of YWZ dexterous hand and analyze its volumes and intersection workspaces. The kinematic simulations and physical prototype experimentations are carried out to validate this approach can construct perfect workspace of dexterous hands. Compared with the Monte Carlo method, the form and boundary of the 3D¯nger workspace generated by our proposed approach have more accurate, integrated, vivid, and intuitional.

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Section: Etcmentioning

confidence: 99%

Workspace Modeling and Analysis for Dexterous Hands

Yang

Zhang

2015

Int. J. Human. Robot.

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“…Besides, these methods are better suited for automatic calculations with computers. In [7], an integrated approach based on numerical calculation and solid modeling software-was presented to create a 3D robot workspace. Firstly, a numerical method based on the Monte Carlo [8] method was used to generate the planar boundary curves of a spatial robot in its main working plane.…”

Section: Related Workmentioning

confidence: 99%

A Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranes

Hatledal¹,

Sanfilippo²,

Chu³

et al. 2015

Volume 1: Offshore Technology; Offshore Geotechnics

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Workspace computation and visualisation is one of the most important criteria in offshore crane design in terms of geometry dimensioning, installation feasibility and operational performance evaluation. This paper presents a numerical method for the computation and visualisation of the workspace of offshore cranes. The Working Load Limit (WLL) and the Safe Working Load (SWL) can be automatically determined. A threedimensional (3D) rectangular grid of voxels is used to describe the properties of the workspace. Firstly, a number of joint configurations are generated by using the Monte Carlo method, which are then mapped from joint to Cartesian space using forward kinematics (FK). The bounding box of the workspace is then derived from these points, and the voxels are distributed on planes inside the box. The method distinguishes voxels by whether they are reachable and if they are on the workspace boundary. The output of the method is an approximation of the workspace volume and point clouds depicting both the reachable space and the boundary of the workspace. Using a third-party software that can work with point clouds, such like MeshLab, a 3D mesh of the workspace can be obtained. A more in-depth description and the pseudo-code of the presented method are presented. As a case study, the workspace of a common type of offshore crane, with three rotational joints, is computed with the proposed method.

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“…Number of point cloud=[200,000, 500,000 ]; Number of slices= [30,50]; Number of columns and rows= [40,70];…”

Section: Volume Calculationmentioning

confidence: 99%

“…In [40], the planar boundary curve of spatial robot in its main working plane is depicted and then 3D workspace are generated by revolving the boundary curves around an axis within Unigraphics. To improve the method presented in [40] to suit more complex robot manipulators, we depict the boundary curves in a series of slices, and generate the workspace by solid modeling method within Solidworks [41]. However, the method [41] should use two different softwares so has to satisfy the data consistency and need cost much extra time in operating these commercial softwares.…”

Section: Introductionmentioning

confidence: 99%

Accurate Numerical Methods for Computing 2D and 3D Robot Workspace

Cao

Lü

et al. 2011

International Journal of Advanced Robotic Systems

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Exact computation of the shape and size of robot manipulator workspace is very important for its analysis and optimum design. First, the drawbacks of the previous methods based on Monte Carlo are pointed out in the paper, and then improved strategies are presented systematically. In order to obtain more accurate boundary points of two-dimensional (2D) robot workspace, the Beta distribution is adopted to generate random variables of robot joints. And then, the area of workspace is acquired by computing the area of the polygon what is a closed path by connecting the boundary points together. For comparing the errors of workspaces which are generated by the previous and the improved method from shape and size, one planar robot manipulator is taken as example. A spatial robot manipulator is used to illustrate that the methods can be used not only on planar robot manipulator, but also on the spatial. The optimal parameters are proposed in the paper to computer the shape and size of 2D and 3D workspace. Finally, we provided the computation time and discussed the generation of 3D workspace which is based on 3D reconstruction from the boundary points.

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An Integrated Method for Workspace Computation of Robot Manipulator

Cited by 13 publications

References 2 publications

Workspace Modeling and Analysis for Dexterous Hands

Workspace Modeling and Analysis for Dexterous Hands

A Voxel-Based Numerical Method for Computing and Visualising the Workspace of Offshore Cranes

Accurate Numerical Methods for Computing 2D and 3D Robot Workspace

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