Interior and exterior boundaries to the workspace of mechanical manipulators

[1]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[2]  Kenneth J. Waldron,et al.  The Workspaces of a Mechanical Manipulator , 1981 .

[3]  Ying-Chien Tsai,et al.  Accessible Region and Synthesis of Robot Arms , 1981 .

[4]  K. C. Gupta,et al.  Design Considerations for Manipulator Workspace , 1982 .

[5]  Joseph Duffy,et al.  Special configurations of spatial mechanisms and robot arms , 1982 .

[6]  K. C. Gupta,et al.  On the Nature of Robot Workspace , 1986 .

[7]  K. Waldron,et al.  A Study of the Jacobian Matrix of Serial Manipulators , 1985 .

[8]  J. Spanos,et al.  Workspace Analysis of Regional Structures of Manipulators , 1985 .

[9]  Daniel C. H. Yang,et al.  A New Method for the Singularity Analysis of Simple Six-link Manipulators , 1986 .

[10]  Faydor L. Litvin,et al.  Singularities in Motion and Displacement Functions of Spatial Linkages , 1986 .

[11]  C. Innocenti,et al.  Singularities, Configurations, and Displacement Functions for Manipulators , 1986 .

[12]  Joseph K. Davidson,et al.  Rigid Body Location and Robot Workspaces: Some Alternative Manipulator Forms , 1987 .

[13]  Shih-Liang Wang,et al.  A Study of the Singular Configurations of Serial Manipulators , 1987 .

[14]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .

[15]  Fujio Yamaguchi,et al.  Curves and Surfaces in Computer Aided Geometric Design , 1988, Springer Berlin Heidelberg.

[16]  Jean-Pierre Merlet,et al.  Singular Configurations of Parallel Manipulators and Grassmann Geometry , 1988, Int. J. Robotics Res..

[17]  Shaheen Ahmad,et al.  Analysis of kinematic singularities for robot manipulators in Cartesian coordinate parameters , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[18]  D. Kohli,et al.  Boundary Surfaces, Limit Surfaces, Crossable and Noncrossable Surfaces in Workspace of Mechanical Manipulators , 1988 .

[19]  Joseph Duffy,et al.  Hypersurfaces of special configurations of serial manipulators and related concepts. part II: Passive joints, configurations, component manifolds and some applications , 1988, J. Field Robotics.

[20]  Jean-Pierre Merlet Singular Configurations of Parallel Manipulators and Grassmann Geometry , 1989, Int. J. Robotics Res..

[21]  Eugene L. Allgower,et al.  Numerical continuation methods - an introduction , 1990, Springer series in computational mathematics.

[22]  Clément Gosselin,et al.  Singularity analysis of closed-loop kinematic chains , 1990, IEEE Trans. Robotics Autom..

[23]  T. Shamir,et al.  The Singularities of Redundant Robot Arms , 1990, Int. J. Robotics Res..

[24]  S. Agrawal Workspace boundaries of in-parallel manipulator systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[25]  Carlos Canudas de Wit,et al.  Controllability issues of robots in singular configurations , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[26]  H. Lipkin,et al.  Enumeration of Singular Configurations for Robotic Manipulators , 1991 .

[27]  Edward J. Haug,et al.  Dextrous Workspaces of Manipulators. I. Analytical Criteria , 1992 .

[28]  Marcelo H. Ang,et al.  Identification and Analysis of Robot Manipulator Singularities , 1992 .

[29]  Dinesh K. Pai,et al.  Genericity and singularities of robot manipulators , 1992, IEEE Trans. Robotics Autom..

[30]  J. K. Wu,et al.  Dextrous Workspaces of Manipulators, Part 2: Computational Methods∗ , 1993 .

[31]  G. R. Pennock,et al.  The Workspace of a General Geometry Planar Three-Degree-of-Freedom Platform-Type Manipulator , 1993 .

[32]  D. M. Emiris Workspace analysis of realistic elbow and dual-elbow robot , 1993 .

[33]  Marco Ceccarelli,et al.  On the Workspace of General 4R Manipulators , 1995, Int. J. Robotics Res..

[34]  Edward J. Haug,et al.  ANALYSIS OF BARRIERS TO CONTROL OF MANIPULATORS WITHIN ACCESSIBLE OUTPUT SETS , 1995 .

[35]  Marco Ceccarelli,et al.  A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary , 1995 .

[36]  P. Zsombor-Murray,et al.  Singularity analysis of planar parallel manipulators , 1995 .

[37]  Shu-jun Zhang,et al.  Workspaces of a walking machine and their graphical representation. Part I: kinematic workspaces , 1996, Robotica.

[38]  F. A. Adkins,et al.  Numerical Algorithms for Mapping Boundaries of Manipulator Workspaces , 1996 .

[39]  Christine Chevallereau Feasible trajectories for a non-redundant robot at a singularity , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[40]  Karim Abdel-Malek,et al.  Analytical Boundary of the Workspace for General3-DOF Mechanisms , 1997, Int. J. Robotics Res..

[41]  Edward J. Haug,et al.  On the determination of boundaries to manipulator workspaces , 1997 .

[42]  Karim Abdel-Malek,et al.  Geometric representation of the swept volume using Jacobian rank-deficiency conditions , 1997, Comput. Aided Des..

[43]  Karim Abdel-Malek,et al.  Workspace, Void, and Volume Determination of the General 5DOF Manipulator , 1999 .

[44]  S. Jack Hu,et al.  Workspace Synthesis for Flexible Fixturing of Stampings , 1999 .

[45]  Karim Abdel-Malek,et al.  Local dexterity analysis for open kinematic chains , 2000 .