Abstract
This chapter proposes an interval-based approach, to obtain the collision-free workspace of planar parallel mechanisms. This approach is represented through an example for a 3-RPR planar parallel mechanism, but it can be extended to investigate the obstacle avoidance of higher degree of freedom and spatial mechanisms. Three main feature of the collision-free workspace is taken into account: mechanical stroke of actuators, interference of limbs with the obstacle and interference of end-effector with the obstacle. In this chapter a circle shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is taken into account. The results are represented and ongoing works are mentioned.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Brock, O., Khatib, O.: Elastic strips: a framework for motion generation in human environments. Int. J. Robot. Res. 21(12), 1031–1052 (2002)
Brooks, R.A.: Planning collision-free motions for pick-and-place operations. Int. J. Robot. Res. 2(4), 19–44 (1983)
Caro, S., Chablat, D., Goldsztejn, A., Ishii, D., Jermann, C.: A branch and prune algorithm for the computation of generalized aspects of parallel robots. In: Milano, M. (ed.) Principles and Practice of Constraint Programming, pp. 867–882. Springer, Berlin (2012)
Jiménez, P., Thomas, F., Torras, C.: 3d collision detection: a survey. Comput. Graphs. 25(2), 269–285 (2001)
Khatib, O., Yokoi, K., Brock, O., Chang, K., Casal, A.: Robots in human environments: basic autonomous capabilities. Int. J. Robot. Res. 18(7), 684–696 (1999)
Komainda, A., Hiller, M.: Control of heavy load manipulators in varying environments. In: Proceedings of IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction, pp. 22–24. Madrid (1999)
Merlet, J.: Interval analysis and robotics. In: kaneko, M., Nakamura, Y. (eds.) Robotics Research, pp. 147–156. Springer, Berlin (2011)
Merlet, J.P.: Parallel Robots. Springer (2006)
Moore, R., Bierbaum, F.: Methods and Applications of Interval Analysis, vol. 2. Society for Industrial Mathematics (1979)
Wenger, P., Chedmail, P.: On the connectivity of manipulator free workspace. J. rob. syst. 8(6), 767–799 (1991)
Yang, S.X., Meng, M.: Neural network approaches to dynamic collision-free trajectory generation. IEEE Trans. Syst. Man Cybern. B Cybern. 31(3), 302–318 (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
FarzanehKaloorazi, M., Masouleh, M.T., Caro, S. (2014). Collision-Free Workspace of 3-RPR Planar Parallel Mechanism via Interval Analysis. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_34
Download citation
DOI: https://doi.org/10.1007/978-3-319-06698-1_34
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-06697-4
Online ISBN: 978-3-319-06698-1
eBook Packages: EngineeringEngineering (R0)