在有障碍物的环境中伸缩机械手的连杆数和位置

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240543

K. Kolarov, B. Roth

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引用次数: 10

摘要

作者考虑了以下问题:给定一个有障碍物的环境，在这个环境中操作的机械手能够到达环境中的每一点的伸缩连杆的最小数量是多少?在二维平面中，障碍物为多边形时，提出了一种求解该问题的几何算法。概述了该问题的一些一般解决方案，包括机械手及其环境的同时设计，移动机器人和/或障碍物的设计，以及三维工作空间的设计。给出了机械臂连杆数边界的若干定理。

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On the number of links and placement of telescoping manipulators in an environment with obstacles

The authors consider the following problem: Given an environment with obstacles, what are the minimum number of telescoping links that will allow a manipulator operating in this environment to reach every point in the environment. A geometrical algorithm is presented for solving this problem in a two-dimensional planar case when the obstacles are polygonal. Solutions to some generalizations of this problem are outlined, including simultaneous design of a manipulator and its environment, design of a moving robot and/or obstacles, and design for a three-dimensional workspace. Some theorems on the bounding limits for the number of links of the manipulator are formulated.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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