Classification and analysis of robot swept volumes

Denis Blackmore, Ming C. Leu, Wen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationProc 92 Jpn USA Symp Flexible Autom
PublisherPubl by ASME
Pages69-75
Number of pages7
StatePublished - Dec 1 1992
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: Jul 13 1992Jul 15 1992

Other

OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA
Period7/13/927/15/92

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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