Res., 11:248-259. Waldron, K. J. 1987. Operating barriers within the workspace of manipulators. Proceedings of the Society of Manufacturing Engineers, Chicago, IL, Robots II/17th ISIR, 8:35-46.  Home/Search Document Not in Database Summary Related Articles Check |
This paper is cited in the following contexts:
Control Barriers Of Positioning Manipulators - Abdel-Malek (1999) (Correct)
....output motion control of the end effector. The purpose of this paper is to analytically identify barriers to output control of serial manipulators, conditions under which difficulties may occur, and to identify voids in the workspace. Singular behavior of manipulators has been addressed by many researchers Wang and Waldron (1987) and Waldron, et al. 1985) stated that as the Jacobian of the manipulator becomes singular, its columns, which are screw quantities, do not span the full rank of the matrix, therefore, the Jacobian rank decreases by at least one. The proof of the null space criteria applied to the Jacobian was ....
Res., 11:248-259. Waldron, K. J. 1987. Operating barriers within the workspace of manipulators. Proceedings of the Society of Manufacturing Engineers, Chicago, IL, Robots II/17th ISIR, 8:35-46.
Output Control Barriers Of Positioning Serial Manipulators - Abdel-Malek, Yang, Yeh (Correct)
....is used to trace the workspace boundaries as well as re entrant surfaces on which the reciprocal condition also holds. Works that have addressed the determination of the workspace for three Degree of Freedom (DOF) manipulators include Cecarelli (1994) and Ranjbaran and Angeles (1992) Wang and Waldron (1987) and Waldron, et al. 1985) stated that as the Jacobian of the manipulator becomes singular, its columns, which are screw quantities, do not span the full rank of the matrix, therefore, the Jacobian rank decreases by at least one. Proof of the null space criteria of the Jacobian was presented by ....
.... manipulator singularities include Soylu and Duffy (1988) Lai and Yang (1984) Mohammadi, et al. 1995) and Merlet (1989) Early studies that have treated difficulties in the control of manipulators due to the appearance of interior surfaces (barriers) were reported by Nielsen et al. 1991) and Waldron (1987). The fundamental concept of crossable and noncrossable surfaces inside a manipulator s workspace was addressed by Oblak and Kohli (1988) Although their report has touched upon a crossable surface using a singularity criterion of the Jacobian, the paper does not present a unified method for ....
Waldron, K. J., 1987, "Operating barriers within the workspace of manipulators", Proceedings of the Society of Manufacturing Engineers, Chicago, IL, RobII/17 th ISIR, Vol. 8, pp. 35-46.
Crossable Surfaces of Robotic Manipulators with Joint Limits - Abdel-Malek, Yeh (2000) (Correct)
.... and Ang (1992) Other earlier important studies that discussed manipulator singularities include Soylu and Duffy (1988) and Lai and Yang (1984) Early studies that have addressed difficulties in the control of manipulators due to the appearance of interior curves and surfaces were reported by Waldron (1987) and Nielsen, et al. 1991) In the latter work, the controllability of a mechanical arm is discussed from a differential geometry point of view. Nielsen, et al. showed control difficulties based upon vector fields and their consecutive Lie brackets spanning a state space. A criterion to define ....
Waldron, K. J. 1987. Operating barriers within the workspace of manipulators. Proceedings of the Society of Manufacturing Engineers, Chicago, IL, Robots II/17th ISIR, 8:35-46.
Atlases Of Orientability For Robotic Manipulator Arms - Abdel-Malek, Yeh (Correct)
....of p 2. Other earlier important studies that discussed manipulator singularities include Soylu and Duffy [28] and Lai and Yang [29] 6 Early studies that have addressed difficulties in the control of manipulators due to the appearance of interior curves and surfaces were reported by Waldron [30] and Nielsen et al. 31] In the latter work, the controllability of a mechanical arm is discussed from a differential geometry point of view. The objective of this paper is to analytically determine the surfaces enveloping the wrist workspace of a defined point in a six degree of freedom ....
Waldron, K. J. 1987. Operating barriers within the workspace of manipulators. Proceedings of the Society of Manufacturing Engineers, Chicago, IL, Robots II/17th ISIR, 8:35-46.
Numerical Algorithms For Mapping Boundaries Of.. - Haug, Luh, Adkins, Wang (1994) (10 citations) (Correct)
....have been limited to planar and idealized spatial manipulators. Methods presented to date do not account for complex bifurcation behavior that occurs in many applications, nor do they characterize curves and surfaces within workspaces that represent local impediments to controllability. Studies by Tsai and Waldron (1987) and Nielsen, deWit, and Hagander (1991) have shown that such interior curves and surfaces are often associated with real restriction on motion control. To date, however, no computationally implementable criteria have been presented that characterize the nature of output control restrictions ....
Tsai, M.J., and Waldron, K.J., 1987, "Operating Barriers within the Workspaces of Manipulators," Society of Manufacturing Engineers, Robots II/17th ISIR, Chicago, 27-30.
Analysis Of Barriers To Control Of Manipulators Within.. - Haug, Adkins, Qiu, Yen (1995) (6 citations) (Correct)
....describe admissible motion of the manipulator. As shown by Haug, Luh, Adkins, and Wang (1994) and in literature cited therein, the exterior boundaries of such accessible output sets are included in a family of singular curves or surfaces, many of which are interior to such sets. Earlier studies by Tsai and Waldron (1987) and Nielsen, deWit, and Hagander (1991) have shown that such interior curves and surfaces are often associated with restrictions on motion control. To date, however, no analytical criteria have been presented that characterize the nature of output restrictions that exist in crossing such singular ....
Tsai, M.J., and Waldron, K.J., 1987, Operating Barriers within the Workspaces of Manipulators, Society of Manufacturing Engineers, Robots II/17th ISIR: 27-30, Chicago.
Path Trajectory Verification for Robot Manipulators in a.. - Abdel-Malek, Yeh (1997) (Correct)
No context found.
Waldron, K. J., 1987. Operating barriers within the workspace of manipulators. Proceedings of the Society of Manufacturing Engineers, Chicago, IL, Robots II/17th ISIR, 8:35-46.
Understanding Voids In THE WORKSPACE OF SERIAL ROBOT.. - Abdel-Malek, al. (2000) (Correct)
No context found.
Res., 11:248-259. Waldron, K. J. 1987. Operating barriers within the workspace of manipulators. Proceedings of the Society of Manufacturing Engineers, Chicago, IL, Robots II/17th ISIR, 8:35-46.
Interior and Exterior Boundaries to the Workspace of.. - Abdel-Malek, Yeh, al. (Correct)
No context found.
Waldron, K. J. 1987. Operating barriers within the workspace of manipulators. Proceedings of the Society of Manufacturing Engineers, Chicago, IL, Robots II/17th ISIR, 8:35-46.
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