Defining Feasible Joint and Geometric Workspaces Through Boundary Functions

Defining Feasible Joint and Geometric Workspaces Through Boundary Functions

This work presents an alternative method for defining feasible joint-space boundaries and their corresponding geometric workspace in a planar robotic system. Instead of relying on traditional numerical approaches that require extensive sampling and collision detection, the proposed method constructs...

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Bibliographic Details
Main Authors: Jorge A. Lizarraga, Dulce M. Navarro, Marcela E. Mata-Romero, Luis F. Luque-Vega, Luis Enrique González-Jiménez, Rocío Carrasco-Navarro, Salvador Castro-Tapia, Héctor A. Guerrero-Osuna, Emmanuel Lopez-Neri
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Applied Sciences
Subjects:
planar robot
feasible workspace
self-collision constraints
boundary functions
trajectory planning
geometric modeling
Online Access:https://www.mdpi.com/2076-3417/15/10/5383
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