Generation of manipulator workspace boundary geometry using the monte carlo method and interactive computer graphics

Document Type

Article

Publication Date

1-1-1990

Abstract

The Monte Carlo method is used to generate the workspaces of manipulators, and the boundary surfaces that separate sub-spaces having different numbers of configurations (branches); i.e., the singularity surfaces. The method is shown to be simple and readily implementable. It does not use any inverse calculations, and no direct computation of points of singularity is required. The method is naturally suitable for graphical presentation of the geometry of the boundary (singularity) surfaces. The boundary surfaces can be analytically approximated. Limitations on joint motions may be included. © 1990 by ASME.

Identifier

84880827213 (Scopus)

Publication Title

Journal of Mechanical Design Transactions of the ASME

External Full Text Location

https://doi.org/10.1115/1.2912630

ISSN

10500472

First Page

452

Last Page

454

Issue

3

Volume

112

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