Kumar, A & Waldron, KJ 1981, 'The workspaces of a mechanical manipulator', Journal of Mechanical Design, Transactions of the ASME, vol. 103, no. 3, pp. 665-672.
View/Download from: Publisher's site
A new theory and a resulting algorithm for tracing the bounding surfaces of mechanical manipulator workspaces is presented. The natures of the numerous singular configurations and means of accommodating them within the algorithm are also studied. In order to sort surfaces of interest from the large number of possible solutions, a numerically implementable labelling technique is also presented. The algorithm is applicable to all practicable manipulator configurations with three, or more, degrees of freedom. © 1981 by ASME.
Song, SM & Waldron, KJ 1981, 'THEORETICAL AND NUMERICAL IMPROVEMENTS TO AN INTERACTIVE LINKAGE DESIGN PROGRAM - RECSYN.', Proceedings - OSU Applied Mechanisms Conference (Oklahoma State University).