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Orientation capability representation and application to manipulator analysis and synthesis

Published online by Cambridge University Press:  06 September 2002

Paresh Shah  and
Jian S. Dai
Paresh Shah
Affiliation:
Department of Mechanical Engineering, School of Physical Sciences and Engineering, King's College, University of London, London WC2R 2LS (United Kingdom). Paresh.Shah@kcl.ac.uk
Jian S. Dai*
Affiliation:
Department of Mechanical Engineering, School of Physical Sciences and Engineering, King's College, University of London, London WC2R 2LS (United Kingdom). Paresh.Shah@kcl.ac.uk
*
*Corresponding author.
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Summary

This paper proposes a new orientation representation of planar manipulators by resorting to polar coordinates. Connecting the end-effector point to the first joint of a manipulator with a virtual adjustable link, the length of the adjustable link corresponds to a workspace point and is related to the orientation of the end effector link by a virtual angle in the form of a transcendental equation. Plotting this link length against the virtual angle in polar coordinates, the orientation of a manipulator can be represented in a compact form, and the range of partial dexterity can be identified. The characteristics of the new representation is hence revealed and related to the assessment of an orientation capability of a manipulator. Based on this representation, a desirable task can be presented and a manipulator can be synthesised with the required orientation.

Keywords

OrientationDexterityRepresentationAnalysisSynthesisSerial manipulator
Type
Research Article
Information
Robotica , Volume 20 , Issue 5 , September 2002 , pp. 529 - 535
Copyright
Copyright © Cambridge University Press 2002

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