Title: PATH FEASIBILITY AND MODIFICATION
Authors: YOUNG, KY
WU, CH
電控工程研究所
Institute of Electrical and Control Engineering
Issue Date: 1-Jul-1992
Abstract: Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric information can be derived from the planned path and the geometric boundaries of these regions. Then, by utilizing the geometric information and proper modification strategies, a Cartesian robot path that is kinematically infeasible can be modified according to different task requirements. To demonstrate the proposed feasibility and modification schemes, simulations for a 6R robot manipulator are executed.
URI: http://hdl.handle.net/11536/3358
ISSN: 0741-2223
Journal: JOURNAL OF ROBOTIC SYSTEMS
Volume: 9
Issue: 5
Begin Page: 613
End Page: 633
Appears in Collections:Articles


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  1. A1992HZ61800003.pdf