The 2 ½D algorithm in robot workspace analysis
G. Köst, Daniel Reclik · 2008
Abstract: In this paper there is presented the method of 3D manipulator’s workspace analysis. The analysis of robot’s work-space is necessary for generation the safety movement path. There was 2 D method, which is based on algorithm of following sections defining in robot work area. Those sections are explored by flat analysis, but the results are transposed into graph form. This graph is the record of all possible movements, so to get the optimum movement there must be used Floyd’s algorithm. This, shortest trace is optimized and smoothed by using B-Spline curves. 1.