论文信息 - Characterization of the workspace for planar robot manipulators

Characterization of the workspace for planar robot manipulators

The complete description of the workspace of a two-degree-of-freedom planar robot manipulator is derived. The derivation takes into account the effects of kinematic parameters on the workspace. The derivation is based on a method using polynomial discriminants of the kinematic equations and expresses the workspace as a set of boundary curves that are convenient to use in a number of applications.<<ETX>>

H. Zhang | P. Sikka | P. Sikka | H. Zhang

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