1996•RoboticaRequires access
Workspaces of a walking machine and their graphical representation. Part I: kinematic workspaces
Shuai Zhang, David J. Sanger, David Howard
Open publisher page 10 citations
Abstract
Summary This paper addresses the kinematic workspaces of a walking machine and their graphical representation. The workspaces for walking machines are denned and the methods for investigating various workspaces are presented; the kinematic workspace constraints are established; the displacement is analysed; an algorithm for investigation of kinematic workspaces is presented; and the position and orientation kinematic workspaces are analysed and graphically represented for an example walking machine design.