This paper reviews a method of representing the finite twist motion of a rigid body, and
applies this concept to the problem of describing the motion capabilities of planar serial …

This paper introduces some basic concepts regarding the workspaces of manipulators. The
first part gives a general discussion regarding workspace shapes. Most of the rest of the …

The instantaneous kinematic and static characteristics of wrist joints are analyzed. Velocity
ratio and mechanical advantage have been used for characterizing single-input-single …

The workspaces and kinematic characterization of serial chain manipulator geometries and
the geometric optimization have been studied extensively. Much less is known about …

Broadly speaking, the regional structure of a manipulator, which consists of the three
inboard joints and their associated members, determines the workspace shape and volume …

A near-minimum-time task-planning algorithm for fruit-harvesting robots having to pick fruits
at N given locations is presented. For the given kinematic and inertial parameters of the …

This paper presents an analytical investigation of manipulator workspace. The first part
presents the derivation of a set of recursive equations in terms of motion and design …

An algorithm is developed to determine the workspace on an arbitrary plane for an nR robot.
The algorithm is based on a linear optimization technique and on small incremental …

An analytical method is presented to obtain all surfaces en velo** the workspace of a
general 3-DOF mechanism. The method is applicable to kinematic chains that can be mod …

This paper presents the application of dual-number matrices to the formulation of
displacement equations of robot manipulators with completely general geometry. Dual …