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 language | English (US) |
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Pages | 69-75 |
Number of pages | 7 |
State | Published - 1992 |
Event | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA Duration: Jul 13 1992 → Jul 15 1992 |
Other
Other | Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) |
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City | San Francisco, CA, USA |
Period | 7/13/92 → 7/15/92 |
All Science Journal Classification (ASJC) codes
- General Engineering