Abstract
This paper presents a workspace analysis of a general 4R manipulator by using a level-set formulation. This formulation is used to detect the main features of the workspace, such as points corresponding to singular configurations, voids and regions with multiple IK solutions. The effect of the variation of kinematic parameters is discussed through numerical examples.
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Russo, M., Ceccarelli, M. (2017). A Workspace Analysis of 4R Manipulators via Level-Set Formulation. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_49
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DOI: https://doi.org/10.1007/978-3-319-44156-6_49
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