Abstract
This chapter deals with different types of workspace, the criteria used for workspace determination, as well as with algorithms to actually calculate the workspace. In the last part, the influence of the different criteria is compared.
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Notes
- 1.
For computer codes, techniques such as automatic or symbolic differentiation can be applied. Here, such approaches are not understood to be conventional algebraic or analytic methods. Even if one succeeds in extracting the required symbolic expressions, such equations are usually so long that it is pointless to work with them.
- 2.
It must be noted that the constraints considered here are not identical with the definition of a constraint as it is often used in the kinematic analysis.
- 3.
Gaël Guennebaud, Benoît Jacob and others, Eigen v3, http://eigen.tuxfamily.org, 2010.
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Pott, A. (2018). Workspace. In: Cable-Driven Parallel Robots. Springer Tracts in Advanced Robotics, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-319-76138-1_5
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DOI: https://doi.org/10.1007/978-3-319-76138-1_5
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