This technology provides a geometric method for numerically calculating the workspace of multi-degree-of-freedom robots. It simplifies high-degree-of-freedom robot models into lower-degree-of-freedom models by representing certain links as a single virtual link (pseudo-arm) and applies the Jacobian determinant to determine the boundaries and union of the workspace.
Due to the lack of existing technologies for effectively calculating the workspace of planar robots with 3 or more degrees of freedom or spatial robots with 4 or more degrees of freedom, there are limitations in real-time safety monitoring and collision avoidance control for these robots.
This technology replaces multiple links with a virtual "pseudo-arm" connecting the origin to the end joint. It models the system as a 2-DOF planar or 3-DOF spatial robot based on its kinematic structure and uses the Jacobian matrix to numerically calculate the workspace based on the maximum and minimum length variations of the links. Applicable to industrial robots and automation systems, this method improves operational efficiency and safety by providing a precise way to calculate robot workspaces.
This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of functional safety implementation technology and risk assessment/reduction technology based on international standards for robots operating in human-contact environments.
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