Classification and Analysis of Robot Swept Volumes
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.
D. Blackmore et al., "Classification and Analysis of Robot Swept Volumes," Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1, American Society of Mechanical Engineers (ASME), Jan 1992.
Mechanical and Aerospace Engineering
Keywords and Phrases
Classification (Of Information); Differential Equations; Robotic Arms
Article - Conference proceedings
© 1992 American Society of Mechanical Engineers (ASME), All rights reserved.