This paper presents a workspace analysis of a general 4R manipulator by using a level-set formulation. This formulation is used to detect the main features of the workspace, such as points corresponding to singular configurations, voids and regions with multiple IK solutions. The effect of the variation of kinematic parameters is discussed through numerical examples.
CITATION STYLE
Russo, M., & Ceccarelli, M. (2017). A workspace analysis of 4R manipulators via level-set formulation. In Mechanisms and Machine Science (Vol. 43, pp. 483–491). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-44156-6_49
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