Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics

Adrián Peidró, Óscar Reinoso, Arturo Gil, José María Marín, Luis Payá, Yerai Berenguer

2016

Abstract

This paper presents the workspace analysis of a redundant serial-parallel robot. Due to the complexity of the robot, the complex constraints (joint limits and no-interference between the legs of the robot), and the globally serial structure of the robot, a discretization method based on the forward kinematics would be most appropriate to compute the workspace. However, this widely used method can only obtain the external boundaries of the workspace, missing the internal barriers that hinder the motion of the robot, which may exist inside the boundaries. To avoid missing these barriers, we use a discretization method that uses the solution of the inverse kinematic problem of the robot. By studying the feasibility of attaining a desired position and orientation by the different branches of the solution to the inverse kinematics, the proposed discretization method is able to obtain both the external boundaries and the internal barriers of the workspace. Some examples are presented to show the importance of these internal barriers in the motions of the robot inside the workspace.

Paper Citation

in Harvard Style

Peidró A., Reinoso Ó., Gil A., Marín J., Payá L. and Berenguer Y. (2016). Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 412-420. DOI: 10.5220/0005984704120420

in Bibtex Style

@conference{icinco16,
author={Adrián Peidró and Óscar Reinoso and Arturo Gil and José María Marín and Luis Payá and Yerai Berenguer},
title={Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={412-420},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005984704120420},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics
SN - 978-989-758-198-4
AU - Peidró A.
AU - Reinoso Ó.
AU - Gil A.
AU - Marín J.
AU - Payá L.
AU - Berenguer Y.
PY - 2016
SP - 412
EP - 420
DO - 10.5220/0005984704120420