Complexity of computing reachable workspaces for redundant manipulators

Tarek Khaled Alameldin; Michael A. Palis; Sanguthevar Rajasekaran; Norman I. Badler

doi:10.1117/12.25153

1 February 1991 Complexity of computing reachable workspaces for redundant manipulators

Tarek Khaled Alameldin, Michael A. Palis, Sanguthevar Rajasekaran, Norman I. Badler

Proceedings Volume 1381, Intelligent Robots and Computer Vision IX: Algorithms and Techniques; (1991) https://doi.org/10.1117/12.25153
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

The complexity ofcomputing 3D workspaces forjoint limited redundant manipulators is examined. Different types of reachable workspace volume and reachable workspace boundary problems are defined. Each type of volume problem is at least as hard as its corresponding type of boundary problem and each problem type is at least NP hard. New efficient and adaptive workspace point computation techniques are proposed (e. g. based on nonlinear programming) after complexity analyses of the corresponding decision problems.

Citation Download Citation

Tarek Khaled Alameldin, Michael A. Palis, Sanguthevar Rajasekaran, and Norman I. Badler "Complexity of computing reachable workspaces for redundant manipulators", Proc. SPIE 1381, Intelligent Robots and Computer Vision IX: Algorithms and Techniques, (1 February 1991); https://doi.org/10.1117/12.25153

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