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- W3117690606 abstract "Abstract An extension to a novel optimization approach for the determination of workspaces of planar manipulators is presented. This approach provides a general method for the determination of manipulator workspaces and has the advantage that it may easily be automated. The method consists of finding a suitable initial radiating point interior to the accessible output set of the manipulator, and then determining the points of intersection of a representative pencil of rays, emanating from this point, with the boundary of the accessible set. The points of intersection are determined by means of an optimization approach in which a dynamic constrained optimization algorithm is used. If any section of the workspace boundary cannot be determined due to non-convexity, then the missing section is mapped using a suitably chosen new radiating point. The method is illustrated by its application to a generally constrained planar parallel manipulator. The method has been implemented in a practical, interactive computer code that has been used to determine convex and non-convex workspaces of different parallel manipulators of arbitrary geometry." @default.
- W3117690606 created "2021-01-05" @default.
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- W3117690606 date "2000-09-10" @default.
- W3117690606 modified "2023-09-27" @default.
- W3117690606 title "The Ray Optimization Method for the Determination of Workspaces of Planar Parallel Manipulators of General Design" @default.
- W3117690606 doi "https://doi.org/10.1115/detc2000/mech-14093" @default.
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