NDLI: Finding the maximally inscribed rectangle in a robot’s workspace

Content Provider	Springer Nature Link
Author	Baek, Jonghyun Iurascu, Cornel Constantin Park, Frank Chongwoo
Copyright Year	2001
Abstract	In this paper we formulate an optimization based approach to determining the maximally inscribed rectangle in a robot’s workspace. The size and location of the maximally inscribed rectangle is an effective index for evaluating the size and quality of a robot’s workspace. Such information is useful for, e. g., optimal worktable placement, and the placement of cooperating robots. For general robot workspaces we show how the problem can be formulated as a constrained nonlinear optimization problem possessing a special structure, to which standard numerical algorithms can be applied. Key to the rapid convergence of these algorithms is the choice of a starting point; in this paper we develop an efficient computational geometric algorithm for rapidly obtaining an approximate solution suitable as an initial starting point. We also develop an improved version of the algorithm of Haug et al. for calculating a robot’s workspace boundary.
Starting Page	1119
Ending Page	1131
Page Count	13
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	15
Issue Number	8
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2001-01-01
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Robot Workspace Maximally Inscribed Rectangle Workspace Boundary Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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