Robot positioning based on point-to-point motion capability
Conference
·
OSTI ID:752899
This paper presents an optimal search method for determining the base location of a robot manipulator so that the robot can have a designated point-to-point (PTP) motion capabilities. Based on the topological characterization of the manipulator workspace and the definitions of various p-connectivity, a computational method is developed for enumerating various PTP motion capabilities into quantitative cost functions. Then an unconstrained search by minimizing the cost function yields the task feasible location of the robot base. This methodology is useful for placement of mobile manipulators and robotic workcell layout design.
- Research Organization:
- Argonne National Lab., IL (US)
- Sponsoring Organization:
- US Department of Energy (US)
- DOE Contract Number:
- W-31109-ENG-38
- OSTI ID:
- 752899
- Report Number(s):
- ANL/TD/CP-101368
- Country of Publication:
- United States
- Language:
- English
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