Calculation methodology for common work area of multiple robots manipulators

Abstract

This work analyzes and proposes a calculation methodology for obtaining the work area common of multiple robots manipulators of revolute joints. The initial stage understands the calculation of the direct and inverse kinematics of the manipulator to be analyzed. The posterior stage consists of the determination of the points limit of the space of common work, and the calculation of the carte-sian coordinates and of committee for the generation of the trajectory that characterizes the limit of the space of common work. To follow the calculation of the area of common work it is made being used of method of numeric integration of area calculation under curves.This work concludes with the calculation of the common area.