| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 4637297 | Applied Mathematics and Computation | 2006 | 25 Pages |
Abstract
The objective of this work is to contribute with a study of the workspace boundary of manipulators with three-revolute joints (3R). An optimization problem is formulated in which the workspace volume is the objective function. Penalties are imposed to minimize the voids and control the total area, forcing it to occupy a pre-established area. Numerical examples are given and the optimization problem is investigated using sequential techniques.
Related Topics
Physical Sciences and Engineering
Mathematics
Applied Mathematics
Authors
Paulo Roberto Bergamaschi, Antônio Carlos Nogueira, Sezimária de Fátima Pereira Saramago,