Classification and analysis of robot swept volumes

Document Type

Conference Proceeding

Publication Date

12-1-1992

Abstract

The sweep differential equation approach is used to classify the swept volumes of robot links in two and three dimensions. Equations for general sweeps are derived with the use of homogeneous matrix for representing the position and orientation of an object. From these equations the corresponding sweep differential equations are obtained. The tangency condition is used to classify the swept volume of a link element into type I or type II swept volume. A number of examples illustrating these two types of swept volumes of robot link elements are presented.

Identifier

0026990418 (Scopus)

First Page

69

Last Page

75

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