Output details
12 - Aeronautical, Mechanical, Chemical and Manufacturing Engineering
Queen's University Belfast
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Article title
Workspace evaluation of manipulators through finite-partition of SE(3)
Type
D - Journal article
Title of journal
Robotics and Computer-Integrated Manufacturing
Article number
-
Volume number
27
Issue number
4
First page of article
850
ISSN of journal
0736-5845
Year of publication
2011
URL
-
Number of additional authors
2
Additional information
This paper proposes a new differential geometry approach to solve the fundamental challenge on qualifying and quantifying six dimensional workspace of manipulators. Unlike the existing workspace evaluation in 3-dimensional space, this approach enables more efficient process planning in 6-dimensions (position and orientation simultaneously), which is needed for many real applications, such as machining a blade of an aero-engine. One reviewer commented “The proposed formulation is very elegant and general.”
Interdisciplinary
-
Cross-referral requested
-
Research group
None
Proposed double-weighted
No
Double-weighted statement
-
Reserve for a double-weighted output
No
Non-English
No
English abstract
-
