文档介绍：Mechanism and Machine Theory 44 (2009) 671–684
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Mechanism and Machine Theory
journal homepage: ate/mechmt
On the placement of open-loop robotic manipulators for reachability
Jingzhou (James) Yang a,b,*, Wei Yu b, Joo Kim b, Karim Abdel-Malek b
a Department of Mechanical Engineering, Texas Tech University, Lubbock, TX 79409-1021, United States
b Center puter Aided Design, The University of Iowa, Iowa City, IA 52242-1000, United States
article info abstract
Article history: Criteria for and implementation of the placement of robot manipulators with the objective
Received 18 July 2007 of reaching specified target points are herein addressed. Placement of an open-loop robotic
Received in revised form 14 March 2008 manipulator in a working environment is characterized by defining the position and orien-
Accepted 5 May 2008
tation of the manipulator’s base with respect to a fixed reference frame. The problem has
Available online 26 June 2008
e important in both the medical and manufacturing fields, where a robot arm must
be appropriately placed with respect to targets (tasks) that cannot be moved. An applicable
numerical formulation is presented. While other methods have used inverse kinematics
Keywords:
solutions in their formulation for defining a locality for the manipulator base, this type
Placement
Open-loop robotic manipulator of solution is difficult to implement because of the plexities in determining
Reachability all inverse kinematic solutions. The approach used in this work is based on characterizing
Optimization the placement, forcing a cost function to impel the workspace envelope in terms of surface
patches towards the target points and subject to functionality constraints, but not requir-
ing putation of inverse kinematics. The formulation and experimental code are
demonstrated using a number of examples.
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1. Introduction
Robots are used in