Inner-Approximation of Manipulable and Reachable Regions using Bilinear Matrix Inequalities
Zherong Pan,Liang He,Xifeng Gao,Zherong Pan,Liang He,Xifeng Gao
Given an articulated robot arm, we present a method to identify two regions with non-empty interiors. The first region is a subset of the configuration space where every point in the region is manipulable. The second region is a subset of the workspace where every point in the region is reachable by the end-effector. Our method expresses the kinematic state of the robot arm using the maximal coord...
