Characterizing the Workspace of the Spherical Image of Cooperating Robots

  • A. P. Murray
  • J. M. McCarthy


In this paper we consider the set of orientations available to the workpiece held by a pair of cooperating robot arms. The rotational terms in the kinematics equations of the system define constraints on the orientation of the workpiece that can be viewed as a spherical linkage, called the spherical image of the robot system. We determine the differential volume element for this orientation workspace and examine two cases, a near planar spherical 6R, and a 6R with orthogonal joint axes which is a model for the case of cooperating PUMA Robots.


Clifford Algebra Twist Angle Revolute Joint Wrist Joint Spherical Image 
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Copyright information

© Springer Science+Business Media Dordrecht 1994

Authors and Affiliations

  • A. P. Murray
    • 1
  • J. M. McCarthy
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of California IrvineIrvineUSA

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