Optimal Manipulator Position and Orientation Determination Scheme Subject to Joint Constraints
Original Publication Date: 1988-Nov-01
Included in the Prior Art Database: 2005-Feb-15
A method is described to achieve optimal manipulator positions and orientations within specified constraints placed on the swept volume of each of the manipulator's linkages. To obtain flexible manipulator programs, it is often necessary to describe manipulator motion relative to objects (fixtures) in the manipulator's workspace.