NDLI: Positioning the base of spatial 2-dof regional manipulators in order to reach as many arbitrarily-chosen points in space as possible

Content Provider	IEEE Xplore Digital Library
Author	Innocenti, C.
Copyright Year	2005
Description	Author affiliation: Dept. of Mech. & Civil Eng., Modena & Reggio Emilia Univ. (Innocenti, C.)
Abstract	Whenever a manipulator is assigned the repetitive task of moving a point of its end-effector through a limited number of prescribed positions in space, it might be possible to endow it with two degrees of freedom only - instead of the canonical minimum of three - on the condition that the base of the manipulator is suitably placed in space. This paper shows a procedure to determine the correct rigid-body position of the base of two-degree-of-freedom (2-dof) manipulators - either serial or fully-parallel - in order to enable them to accomplish the above-mentioned task. Numerical examples are reported
Sponsorship	Univ. of Washington IEEE Robotics and Autom. Soc. Microsoft Coroware Inc
Starting Page	587
Ending Page	594
File Size	322707
Page Count	8
File Format	PDF
ISBN	0780391780
DOI	10.1109/ICAR.2005.1507468
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-07-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Geometry Manufacturing automation Manufacturing industries Wrist Civil engineering Motion-planning Robot kinematics Robotics and automation Trajectory
Content Type	Text
Resource Type	Article

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Positioning the base of spatial 2-dof regional manipulators in order to reach as many arbitrarily-chosen points in space as possible