Manipulation workspace analysis using the Monte Carlo Method

Rastegar, J.; Fardanesh, B.

doi:10.1016/0094-114x(90)90124-3

Cited by 65 publications

(36 citation statements)

References 18 publications

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“…22,23 The Monte Carlo method, a simple and practical numerical method, has been widely adopted with lower accuracy disadvantages. 11,24,25 First, although millions of discrete points are calculated to visualize the¯ngertip workspace, Monte Carlo method may be not enough to represent the whole workspace, and may miss some key reachable positions of the¯ngertip. Then, the workspace volumes cannot be calculated from these points directly.…”

Section: Etcmentioning

confidence: 99%

Workspace Modeling and Analysis for Dexterous Hands

Yang

Zhang

2015

Int. J. Human. Robot.

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The workspace is a fundamental feature for a dexterous hand to grasping plan, motion control, and mechanical design. Although the graphic, numerical, or analytical methods are valid to generate the workspace of dexterous hands, but there exist several defects for these methods to describe the workspace characteristics, such as forms, boundaries, volumes, and intersection workspaces. We propose a combined modeling approach to visualize and analyze the workspace of YWZ dexterous hand, which has¯ve¯ngers, 20 degrees of freedom (Dofs). The proposed approach is also¯t for similar dexterous hands to generate their precise workspaces. After a brief mechanism introduction of YWZ dexterous hand, a displacement equation of its index¯nger is deduced to calculate the¯ngertip positions in three-dimension (3D) Euclidean space. Then, a two-dimension (2D) boundary¯gure enclosing the°exion-extension motion¯eld of the¯nger is drawn by the displacement equation. Taking this boundary¯gure as a sketch in a CAD modeling environment, we further model a vivid 3D¯nger workspace, which is relative with the abduction-adduction motion of the¯nger. Besides, we generate the whole workspace of YWZ dexterous hand and analyze its volumes and intersection workspaces. The kinematic simulations and physical prototype experimentations are carried out to validate this approach can construct perfect workspace of dexterous hands. Compared with the Monte Carlo method, the form and boundary of the 3D¯nger workspace generated by our proposed approach have more accurate, integrated, vivid, and intuitional.

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Section: Etcmentioning

confidence: 99%

Workspace Modeling and Analysis for Dexterous Hands

Yang

Zhang

2015

Int. J. Human. Robot.

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“…To some degree of engineering, analytical method is difficult to form universal computer algorithm, and weak in all-purpose and applicability. The numerical method is often discussed, which including continuation method based on the ultimate value and optimization theory, numerical method based on the inverse solution searching [6], and Monte-Carlo method based on the random probability [7]. Though there are still many weakness in numerical method, such as only approximate solution acquirable, large computing load, and hard to fit the boundaries, the numerical method is more and more widely applied as the development of calculating ability and graphic technology of computer.…”

Section: A Approaches For Workpace Solutionmentioning

confidence: 99%

Research on workspace of manipulator with complicated constraints

Wang

Tang

2008

2008 7th World Congress on Intelligent Control and Automation

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The robot operational range considering factors such as joint configuration, operational environment and endeffector orientation demands will be more practical valuable to robot designers. General representation of workspace with constraints was proposed in this paper, and those constraints were classified into three categories: independent joint variable constraints, inequality constraints and equality constraints. A numerical method was presented comprehensively based on the random possibility to solve workspace on the condition of constrained. Moreover, this paper gave a numerical example, which is on determining the feasible installation region of a special manipulator designed to repair steam generators in nuclear plant. This example showed the efficiency and simple application of the proposed solving method, and proved the practical value of researching robot workspace with constraints. Index Terms -Robot; Workspace; Monte Carlo Method. Workspace Joint spaceForward kinematics Inverse kinematics 978-1-4244-2114-5/08/$25.00

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“…Monte Carlo method is used in this paper, derives from the numerical method and bases on random probability algorithm. With the rapid development of computer technology, Monte Carlo method has been more widely used [5] . In this paper, the 7-DOF humanoid robotic arm is studied.…”

Section: Introductionmentioning

confidence: 99%

Workspace Analysis of 7-DOF Humanoid Robotic Arm

Luo¹,

Wen²,

He³

et al. 2015

Advances in Intelligent Systems Research

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Abstract. The 7-DOF humanoid robotic arm joint coordinate systems are established and link parameters are determined by D-H method, and the robotic arm kinematics model is established. The position and orientation of robotic arm end-effector is generated by homogeneous transform method. Monte Carlo method is proposed in analyzing the workspace of robotic arm and the echogram of robotic arm is calculated based on mapping relation from joint space to workspace of robotic arm. The reference basis is provided for follow-up robot trajectory planning, dynamics analysis, and motion control and parameter optimization.

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Manipulation workspace analysis using the Monte Carlo Method

Cited by 65 publications

References 18 publications

Workspace Modeling and Analysis for Dexterous Hands

Workspace Modeling and Analysis for Dexterous Hands

Research on workspace of manipulator with complicated constraints

Workspace Analysis of 7-DOF Humanoid Robotic Arm

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