Workspace evaluation for analysis and synthesis of manipulators

Abstract

In this keynote lecture, manipulator workspace is presented by discussing its basic characteristics as fundamental for design and operation of mechanical systems in manipulation applications. Algorithms are explained for numerical evaluation of the workspace of serial and parallel manipulators. Formulations are introduced also for design purposes. Design problem for manipulators is formulated by using workspace characteristics. Experimental procedures for workspace determination are outlined both for model validations and performance evaluation.