Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

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dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2007-05-08
dc.date.accessioned2026-07-07T07:59:58Z
dc.date.available2026-07-07T07:59:58Z
dc.descriptionThe goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions. The manipulators considered in this study may have multiple direct and inverse kinematic solutions. The N-connected regions are characterized by projection, onto the Cartesian workspace, of the connected components of the reachable configuration space defined in the Cartesian product of the Cartesian space by the joint space. Generalized octree models are used for the construction of all spaces. This study is illustrated with a simple planar fully-parallel manipulator.
dc.identifierhttps://arxiv.org/abs/0705.1037
dc.identifierhttp://arxiv.org/abs/0705.1037
dc.identifier25th Design Automation Conference (1999) 1-6
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/128571
dc.subjectRobotics
dc.titleRegions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators
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