A potential-based model of three-dimensional (3D) workspace is proposed in this paper for ensuring obstacle avoidance in path planning. It is assumed that the workspace boundary is uniformly distributed with generalized charges. The potential due to a point charge is inversely proportional to the distance to the power of an integer, the order of the potential function. It is shown that such pot...

This paper addresses the following inspection problem: given a known workspace and a robot with vision capabilities compute a short path path for the robot such that each point on boundary of the workspace is visible from some point on the path. Autonomous inspection, such as by a flying camera, or a virtual reality architectural walkthrough, could be guided by a solution to the above inspectio...

This paper presents algorithms for estimating length, location, and orientation of nanowires in a fluidic workspace using images obtained by optical section microscopy. Images containing multiple nanowires are first segmented to locate general areas of interest which are then analyzed to determine discrete nanowire parameters. We use a set of image processing techniques to extract features of n...

Despite the increasing interest on parallel mechanisms during the last years, few researchers have addressed the motion planning problem for such systems. The few existing techniques lie onto a representation of the workspace of the mechanism (or its boundary). However, obtaining this representation is generally too difficult, only partial solutions exist for particular cases. In this paper we ...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

The workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, such workspace is difficult to compute and represent, so that comprehension on its structure is being gained by studying its three-dimensional slices. While successful methods have been given to determine the con...

A robotic manipulator can fail in many diierent ways, and its capabilities after a failure are a major concern, especially for manipulators used in hazardous and remote environments, where the cost of repair or replacement is high. This article presents a study of the workspaces of robotic arms after a free-swinging failure, deened as a hardware or software failure that prevents the application...