NASA NTRS · 19820000185
Calculating Clearances for Manipulators
Abstract
Set of algorithms rapidly calculates minimum safe clearances for remote manipulators. Such calculations are used in design of trajectories for manipulators to ensure they do not accidentally strike surrounding objects. Structural parts are considered as cylindrical shells having circular plane areas for ends. Clearance calculation method offers special benefits in industrial robotics, particularly in automated machining.
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Copeland, E. L., Peticolas, J. D., Ray, L. D.. 1983-03-01. Calculating Clearances for Manipulators. https://ntrs.nasa.gov/citations/19820000185
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