scholarly journals Online velocity constraint adaptation for safe and efficient human-robot workspace sharing

2020 ◽  
Author(s):  
Lucas Joseph ◽  
Joshua K. Pickard ◽  
Vincent Padois ◽  
David Daney
Keyword(s):  
Velocity Constraint ◽  
Robot Workspace

Robot Workspace of a Tool Plane: Part 2—Computer Generation and Selected Design Conditions for Dexterity

1987 ◽  
Vol 109 (1) ◽  
pp. 61-71 ◽  
Author(s):  
J. K. Davidson ◽  
P. Pingali
Keyword(s):  
Ruled Surface ◽  
End Effector ◽  
Plane Part ◽  
Computer Generation ◽  
Robot Workspace

In this paper the algorithm is completed for generation of envelope-surfaces for plane-workspaces of generally proportioned manipulators. Then the ruled surface Ψ is used for adapting the algorithm to 3-R manipulators for which the outermost two axes intersect (a2 = 0). The discriminant D is further developed, and it is used to classify 3-R manipulators, having a2 = 0, into seven Types. Manipulators, which are of Type 7, (i) can provide any orientation to a tool plane σ or (ii), with a fourth appropriately placed R joint and tool plane Σ, can also provide any attitude to the end effector. Design conditions are developed and presented which ensure that a manipulator will possess these properties of dexterity. The conditions are based on coupled motions at all three, or four, axes.

Optimal sliding-mode guidance with terminal velocity constraint for fixed-interval propulsive maneuvers

2008 ◽  
Vol 62 (10-11) ◽  
pp. 556-562 ◽  
Author(s):  
Behrouz Ebrahimi ◽  
Mohsen Bahrami ◽  
Jafar Roshanian
Keyword(s):  
Sliding Mode ◽  
Terminal Velocity ◽  
Fixed Interval ◽  
Velocity Constraint

scholarly journals A novel approach for coverings transformation to define a robot workspace

2020 ◽  
Vol 945 ◽  
pp. 012075
Author(s):  
L A Rybak ◽  
L Behera ◽  
M A Averbukh ◽  
A V Sapryka
Keyword(s):  
Novel Approach ◽  
Robot Workspace
Sign in / Sign up

Export Citation Format

Share Document